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 | 161 warnings · 18510 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-26 00:49:56.630] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-26 00:49:56.630] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235136 ms (missed cycles : 7). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235136 ms (missed cycles : 7).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823360 ms (missed cycles : 5). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823360 ms (missed cycles : 5).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823838 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823838 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787705400.23586798 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364249 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364249 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705400.84195900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (7.86e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.51sINFOros2_control_node[2026-08-26 00:50:01.025] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-26 00:50:01.025] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506573 ms (missed cycles : 6). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506573 ms (missed cycles : 6).[0m ×2 + 5.03sWARNros2_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 + 5.77sINFOobjective_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 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374902 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374902 ms (missed cycles : 3).[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679397 ms (missed cycles : 2). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679397 ms (missed cycles : 2).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683065 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683065 ms (missed cycles : 2).[0m ×2 + 8.07sINFOjoint_trajectory_controllerReceived new action goal ×3043 + 8.07sINFOjoint_trajectory_controllerAccepted new action goal ×3043 + 8.08sINFOros2_control_nodeReceived new action goal[0m ×6086 + 8.08sINFOros2_control_nodeAccepted new action goal[0m ×6086 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991883 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991883 ms (missed cycles : 2).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937004 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937004 ms (missed cycles : 2).[0m ×2 + 10.31sWARNros2_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 ×4 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688053 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688053 ms (missed cycles : 2).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040192 ms (missed cycles : 2). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040192 ms (missed cycles : 2).[0m ×2 + 12.85sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.85sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.85sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.85sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.85sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814234 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814234 ms (missed cycles : 2).[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985990 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985990 ms (missed cycles : 2).[0m ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.698209 ms (missed cycles : 9). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.698209 ms (missed cycles : 9).[0m ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667914 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667914 ms (missed cycles : 2).[0m ×2 + 17.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.61 s); wrist_camera (1.61 s). The render path has stopped producing new frames for them.[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689167 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689167 ms (missed cycles : 2).[0m ×2 + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326085 ms (missed cycles : 2). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326085 ms (missed cycles : 2).[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381713 ms (missed cycles : 2). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381713 ms (missed cycles : 2).[0m ×2 + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624227 ms (missed cycles : 2). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624227 ms (missed cycles : 2).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217971 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217971 ms (missed cycles : 2).[0m ×2 + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124204 ms (missed cycles : 2). + 22.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124204 ms (missed cycles : 2).[0m ×2 + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447440 ms (missed cycles : 2). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447440 ms (missed cycles : 2).[0m ×2 + 24.38sWARNros2_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 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924951 ms (missed cycles : 2). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924951 ms (missed cycles : 2).[0m ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141351 ms (missed cycles : 2). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141351 ms (missed cycles : 2).[0m ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096361 ms (missed cycles : 2). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096361 ms (missed cycles : 2).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488154 ms (missed cycles : 2). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488154 ms (missed cycles : 2).[0m ×2 + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835193 ms (missed cycles : 2). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835193 ms (missed cycles : 2).[0m ×2 + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681040 ms (missed cycles : 2). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681040 ms (missed cycles : 2).[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816029 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816029 ms (missed cycles : 2).[0m ×2 + 31.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833814 ms (missed cycles : 2).[0m ×2 + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693367 ms (missed cycles : 2). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693367 ms (missed cycles : 2).[0m ×2 + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860882 ms (missed cycles : 2). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860882 ms (missed cycles : 2).[0m ×2 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816533 ms (missed cycles : 2). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816533 ms (missed cycles : 2).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703655 ms (missed cycles : 2). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703655 ms (missed cycles : 2).[0m ×2 + 37.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665789 ms (missed cycles : 2). + 37.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665789 ms (missed cycles : 2).[0m ×2 + 38.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118961 ms (missed cycles : 4). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118961 ms (missed cycles : 4).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910070 ms (missed cycles : 2). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910070 ms (missed cycles : 2).[0m ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763122 ms (missed cycles : 2). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763122 ms (missed cycles : 2).[0m ×2 + 41.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252198 ms (missed cycles : 2). + 41.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252198 ms (missed cycles : 2).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834802 ms (missed cycles : 2). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834802 ms (missed cycles : 2).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352358 ms (missed cycles : 2). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352358 ms (missed cycles : 2).[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519638 ms (missed cycles : 2). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519638 ms (missed cycles : 2).[0m ×2 + 45.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092910 ms (missed cycles : 4). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092910 ms (missed cycles : 4).[0m ×2 + 46.50sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679251 ms (missed cycles : 2). + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679251 ms (missed cycles : 2).[0m ×2 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791782 ms (missed cycles : 3). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791782 ms (missed cycles : 3).[0m ×2 + 48.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705444.66567922 seconds ×3 + 48.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705445.30091858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.95sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 48.96sINFOros2_control_node[2026-08-26 00:50:45.474] [info] Received new action goal ×2 + 48.96sINFOros2_control_node[2026-08-26 00:50:45.474] [info] Accepted new action goal ×2 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133757 ms (missed cycles : 2). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133757 ms (missed cycles : 2).[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992934 ms (missed cycles : 2). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992934 ms (missed cycles : 2).[0m ×2 + 51.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608903 ms (missed cycles : 2). + 51.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608903 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.1s | 156 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3).[0m ×2 + 0.40sINFOobjective_server_node[2026-08-26 00:49:02.351] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845164774 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845195818 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-26 00:49:03.030] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.084962238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087859496 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087882140 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-26 00:49:03.150] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:49:03.530435283 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558264342 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558294695 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2).[0m ×2 + 2.72sWARNros2_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 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705345.41879487 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705346.12280321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.26sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696972 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696972 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 7.45sINFOros2_control_node[2026-08-26 00:49:09.397] [info] Received new action goal ×2 + 7.45sINFOros2_control_node[2026-08-26 00:49:09.397] [info] Accepted new action goal ×2 + 7.73sWARNros2_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 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700520 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700520 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779830 ms (missed cycles : 5). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779830 ms (missed cycles : 5).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032014 ms (missed cycles : 4). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032014 ms (missed cycles : 4).[0m ×2 + 10.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.62sINFOros2_control_node[2026-08-26 00:49:12.568] [info] Received new action goal ×2 + 10.62sINFOros2_control_node[2026-08-26 00:49:12.568] [info] Accepted new action goal ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099515 ms (missed cycles : 5). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.099515 ms (missed cycles : 5).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556626 ms (missed cycles : 6). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.556626 ms (missed cycles : 6).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117190 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117190 ms (missed cycles : 2).[0m ×2 + 13.61sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 13.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.66sINFOros2_control_node[2026-08-26 00:49:15.607] [info] Received new action goal ×2 + 13.66sINFOros2_control_node[2026-08-26 00:49:15.607] [info] Accepted new action goal ×2 + 14.44sWARNros2_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 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631059 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631059 ms (missed cycles : 3).[0m ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063918 ms (missed cycles : 4). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063918 ms (missed cycles : 4).[0m ×2 + 16.62sINFOobjective_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 + 16.62sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.62sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.62sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.62sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919151 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919151 ms (missed cycles : 3).[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981336 ms (missed cycles : 2). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981336 ms (missed cycles : 2).[0m ×2 + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387279 ms (missed cycles : 2). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387279 ms (missed cycles : 2).[0m ×2 + 19.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051621 ms (missed cycles : 2). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.051621 ms (missed cycles : 2).[0m ×2 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779969 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779969 ms (missed cycles : 2).[0m ×2 + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020194 ms (missed cycles : 2). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020194 ms (missed cycles : 2).[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100722 ms (missed cycles : 2). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100722 ms (missed cycles : 2).[0m ×2 + 24.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.13sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.13sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.13sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.13sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.57sWARNros2_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 + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016053 ms (missed cycles : 2). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016053 ms (missed cycles : 2).[0m ×2 + 25.01sINFOros2_control_node[2026-08-26 00:49:26.958] [info] Received new action goal ×2 + 25.01sINFOros2_control_node[2026-08-26 00:49:26.958] [info] Accepted new action goal ×2 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707057 ms (missed cycles : 4). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707057 ms (missed cycles : 4).[0m ×2 + 26.19sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.20sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.49sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). ×2 + 26.53sINFOros2_control_node[2026-08-26 00:49:28.481] [info] Received new action goal ×2 + 26.53sINFOros2_control_node[2026-08-26 00:49:28.481] [info] Accepted new action goal ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751542 ms (missed cycles : 3). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751542 ms (missed cycles : 3).[0m ×2 + 28.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474176 ms (missed cycles : 2). + 28.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474176 ms (missed cycles : 2).[0m ×2 + 28.81sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 28.81sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.83sINFOros2_control_node[2026-08-26 00:49:30.779] [info] Received new action goal ×2 + 28.83sINFOros2_control_node[2026-08-26 00:49:30.779] [info] Accepted new action goal ×2 + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263970 ms (missed cycles : 3). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263970 ms (missed cycles : 3).[0m ×2 + 29.63sWARNros2_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 + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212581 ms (missed cycles : 2). + 30.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212581 ms (missed cycles : 2).[0m ×2 + 31.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017724 ms (missed cycles : 3). + 31.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017724 ms (missed cycles : 3).[0m ×2 + 31.86sINFOros2_control_node[2026-08-26 00:49:33.809] [info] Received new action goal ×2 + 31.86sINFOros2_control_node[2026-08-26 00:49:33.809] [info] Accepted new action goal ×2 + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685803 ms (missed cycles : 2). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685803 ms (missed cycles : 2).[0m ×2 + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688433 ms (missed cycles : 2). + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688433 ms (missed cycles : 2).[0m ×2 + 34.48sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 34.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202367 ms (missed cycles : 3). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202367 ms (missed cycles : 3).[0m ×2 + 34.54sINFOros2_control_node[2026-08-26 00:49:36.490] [info] Received new action goal ×2 + 34.54sINFOros2_control_node[2026-08-26 00:49:36.490] [info] Accepted new action goal ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.125164 ms (missed cycles : 7). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.125164 ms (missed cycles : 7).[0m ×2 + 35.75sWARNros2_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 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189202 ms (missed cycles : 5). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189202 ms (missed cycles : 5).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677002 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677002 ms (missed cycles : 2).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707452 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707452 ms (missed cycles : 2).[0m ×2 + 40.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381708 ms (missed cycles : 6). + 40.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.381708 ms (missed cycles : 6).[0m ×2 + 41.06sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056102 ms (missed cycles : 2). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056102 ms (missed cycles : 2).[0m ×2 + 41.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322359 ms (missed cycles : 5). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.322359 ms (missed cycles : 5).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673495 ms (missed cycles : 3). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673495 ms (missed cycles : 3).[0m ×2 + 44.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919212 ms (missed cycles : 2). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919212 ms (missed cycles : 2).[0m ×2 + 45.18sINFOros2_control_node[2026-08-26 00:49:47.129] [info] Received new action goal ×2 + 45.18sINFOros2_control_node[2026-08-26 00:49:47.129] [info] Accepted new action goal ×2 + 45.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196425 ms (missed cycles : 3). + 45.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196425 ms (missed cycles : 3).[0m ×2 + 46.34sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787705388.28586364 seconds ×3 + 46.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396571 ms (missed cycles : 2). + 46.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396571 ms (missed cycles : 2).[0m ×2 + 47.40sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787705389.34571385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998015 ms (missed cycles : 3). + 47.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998015 ms (missed cycles : 3).[0m ×2 + 48.56sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 48.57sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.59sINFOros2_control_node[2026-08-26 00:49:50.540] [info] Received new action goal ×2 + 48.59sINFOros2_control_node[2026-08-26 00:49:50.540] [info] Accepted new action goal ×2 + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407207 ms (missed cycles : 2). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407207 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.1s | 114 warnings · 2679 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×411 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×411 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×822 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×822 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691445 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691445 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_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 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742176 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742176 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017796 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017796 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502487 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502487 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705466.81247687 seconds ×3 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081352 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081352 ms (missed cycles : 7).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787705467.44901514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOobjective_server_nodeFound path in 5 iterations (0.0057667 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.94sINFOros2_control_node[2026-08-26 00:51:07.715] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-26 00:51:07.715] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893862 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893862 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450766 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450766 ms (missed cycles : 3).[0m ×2 + 7.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422628 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422628 ms (missed cycles : 2).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834814 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834814 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457854 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457854 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564792 ms (missed cycles : 5). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564792 ms (missed cycles : 5).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928782 ms (missed cycles : 4). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928782 ms (missed cycles : 4).[0m ×2 + 13.69sWARNros2_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 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873786 ms (missed cycles : 5). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873786 ms (missed cycles : 5).[0m ×2 + 14.49sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258423 ms (missed cycles : 5). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.258423 ms (missed cycles : 5).[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331815 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331815 ms (missed cycles : 3).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165681 ms (missed cycles : 4). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165681 ms (missed cycles : 4).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246206 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246206 ms (missed cycles : 2).[0m ×2 + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247274 ms (missed cycles : 2). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247274 ms (missed cycles : 2).[0m ×2 + 19.89sINFOobjective_server_nodeFound path in 4 iterations (0.00337264 s). ×2 + 19.90sWARNros2_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 + 19.97sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.01sINFOobjective_server_nodeFound path in 12 iterations (0.00628407 s). ×2 + 20.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 20.13sINFOobjective_server_nodeFound path in 1 iterations (0.0033475 s). ×2 + 20.18sINFOobjective_server_nodePath shortcutter: [X____________________________________X___________________X] ×2 + 20.21sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×4 + 20.24sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.26sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 20.30sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 20.32sINFOobjective_server_nodeFound path in 8 iterations (0.00361896 s). ×2 + 20.38sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 20.41sINFOobjective_server_nodeFound path in 1 iterations (0.0052319 s). ×2 + 20.47sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 20.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.56sINFOobjective_server_nodeFound path in 4 iterations (0.00523301 s). ×2 + 20.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 20.70sINFOobjective_server_nodeFound path in 41 iterations (0.0162642 s). ×2 + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782510 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782510 ms (missed cycles : 2).[0m ×2 + 20.78sINFOobjective_server_nodePath shortcutter: [X________________________________X___________________________________________X] ×2 + 20.81sINFOobjective_server_nodeFound path in 1 iterations (0.0052932 s). ×2 + 20.87sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 20.90sINFOobjective_server_nodeFound path in 1 iterations (0.00319645 s). ×2 + 20.98sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 21.02sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 21.08sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.12sINFOobjective_server_nodeFound path in 1 iterations (0.010734 s). ×2 + 21.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________X_________________________X] ×2 + 21.31sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 21.43sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 21.48sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 21.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X] ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596731 ms (missed cycles : 2). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596731 ms (missed cycles : 2).[0m ×2 + 21.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.93sINFOros2_control_node[2026-08-26 00:51:24.708] [info] Received new action goal ×2 + 21.93sINFOros2_control_node[2026-08-26 00:51:24.708] [info] Accepted new action goal ×2 + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605007 ms (missed cycles : 5). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.605007 ms (missed cycles : 5).[0m ×2 + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125523 ms (missed cycles : 3). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125523 ms (missed cycles : 3).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421042 ms (missed cycles : 2). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421042 ms (missed cycles : 2).[0m ×2 + 25.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747034 ms (missed cycles : 2). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747034 ms (missed cycles : 2).[0m ×2 + 26.92sINFOros2_control_node[2026-08-26 00:51:29.701] [info] Received new action goal ×2 + 26.92sINFOros2_control_node[2026-08-26 00:51:29.701] [info] Accepted new action goal ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890387 ms (missed cycles : 2). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890387 ms (missed cycles : 2).[0m ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827452 ms (missed cycles : 3). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827452 ms (missed cycles : 3).[0m ×2 + 28.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.61sINFOros2_control_node[2026-08-26 00:51:31.393] [info] Received new action goal ×2 + 28.61sINFOros2_control_node[2026-08-26 00:51:31.393] [info] Accepted new action goal ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676530 ms (missed cycles : 2). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676530 ms (missed cycles : 2).[0m ×2 + 29.83sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.87sINFOros2_control_node[2026-08-26 00:51:32.654] [info] Received new action goal ×2 + 29.88sINFOros2_control_node[2026-08-26 00:51:32.654] [info] Accepted new action goal ×2 + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.381218 ms (missed cycles : 7). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.381218 ms (missed cycles : 7).[0m ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978131 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978131 ms (missed cycles : 2).[0m ×2 + 32.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002010 ms (missed cycles : 2). + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002010 ms (missed cycles : 2).[0m ×2 + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019320 ms (missed cycles : 4). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019320 ms (missed cycles : 4).[0m ×2 + 35.10sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787705497.87922120 seconds ×3 + 35.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905153 ms (missed cycles : 4). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905153 ms (missed cycles : 4).[0m ×2 + 35.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787705498.55869126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.00sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 36.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.01sINFOros2_control_node[2026-08-26 00:51:38.793] [info] Received new action goal ×2 + 36.01sINFOros2_control_node[2026-08-26 00:51:38.793] [info] Accepted new action goal ×2 + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744413 ms (missed cycles : 5). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744413 ms (missed cycles : 5).[0m ×2 + 37.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750178 ms (missed cycles : 3). + 37.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750178 ms (missed cycles : 3).[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 · 13524 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4456 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2227 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2227 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×4454 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519638 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519638 ms (missed cycles : 2).[0m ×2 + 1.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092910 ms (missed cycles : 4). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092910 ms (missed cycles : 4).[0m ×2 + 2.38sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679251 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679251 ms (missed cycles : 2).[0m ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791782 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791782 ms (missed cycles : 3).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705444.66567922 seconds ×3 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×7 + 4.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705445.30091858 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.84sINFOros2_control_node[2026-08-26 00:50:45.474] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-26 00:50:45.474] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133757 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133757 ms (missed cycles : 2).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992934 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992934 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.16sINFOobjective_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 + 6.17sINFOobjective_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 + 6.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608903 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608903 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150525 ms (missed cycles : 2). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150525 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893034 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893034 ms (missed cycles : 2).[0m ×2 + 9.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715457 ms (missed cycles : 3). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715457 ms (missed cycles : 3).[0m ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834128 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834128 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094741 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094741 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053960 ms (missed cycles : 2). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053960 ms (missed cycles : 2).[0m ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714250 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714250 ms (missed cycles : 2).[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947543 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947543 ms (missed cycles : 2).[0m ×2 + 16.11sWARNros2_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 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728518 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728518 ms (missed cycles : 2).[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336790 ms (missed cycles : 2). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336790 ms (missed cycles : 2).[0m ×2 + 18.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038879 ms (missed cycles : 4). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038879 ms (missed cycles : 4).[0m ×2 + 19.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704134 ms (missed cycles : 2). + 19.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704134 ms (missed cycles : 2).[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667123 ms (missed cycles : 6). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.667123 ms (missed cycles : 6).[0m ×2 + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670793 ms (missed cycles : 2). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670793 ms (missed cycles : 2).[0m ×2 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691445 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691445 ms (missed cycles : 2).[0m ×2 + 23.10sWARNros2_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 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742176 ms (missed cycles : 2). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742176 ms (missed cycles : 2).[0m ×2 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017796 ms (missed cycles : 2). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017796 ms (missed cycles : 2).[0m ×2 + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502487 ms (missed cycles : 2). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502487 ms (missed cycles : 2).[0m ×2 + 26.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705466.81247687 seconds ×3 + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081352 ms (missed cycles : 7). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081352 ms (missed cycles : 7).[0m ×2 + 26.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787705467.44901514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.99sINFOobjective_server_nodeFound path in 5 iterations (0.0057667 s). ×2 + 27.06sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 27.08sINFOros2_control_node[2026-08-26 00:51:07.715] [info] Received new action goal ×2 + 27.08sINFOros2_control_node[2026-08-26 00:51:07.715] [info] Accepted new action goal ×2 + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893862 ms (missed cycles : 2). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893862 ms (missed cycles : 2).[0m ×2 + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450766 ms (missed cycles : 3). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450766 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.2s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5).[0m ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Accepted new action goal ×2 + 1.95sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Got request to cancel active goal. ×2 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Canceling active goal... ×2 + 2.55sERRORobjective_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: 1787705271.18560004 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705271.82602882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705271.93616986 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705272.55322719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712817 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.712817 ms (missed cycles : 4).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486088 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486088 ms (missed cycles : 3).[0m ×2 + 8.08sWARNros2_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 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736951 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736951 ms (missed cycles : 2).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.046971 ms (missed cycles : 5). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.046971 ms (missed cycles : 5).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348736 ms (missed cycles : 5). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.348736 ms (missed cycles : 5).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760255 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760255 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933418 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933418 ms (missed cycles : 3).[0m ×2 + 13.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.10sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.40sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 13.43sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 13.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.50sINFOobjective_server_nodeFound path in 1 iterations (0.0032294 s). ×2 + 13.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.69sINFOros2_control_node[2026-08-26 00:48:02.324] [info] Received new action goal ×2 + 13.69sINFOros2_control_node[2026-08-26 00:48:02.324] [info] Accepted new action goal ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.892042 ms (missed cycles : 6). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.892042 ms (missed cycles : 6).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023913 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023913 ms (missed cycles : 2).[0m ×2 + 14.92sWARNros2_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 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887368 ms (missed cycles : 3). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887368 ms (missed cycles : 3).[0m ×2 + 16.16sINFOros2_control_node[2026-08-26 00:48:04.797] [info] Received new action goal ×2 + 16.16sINFOros2_control_node[2026-08-26 00:48:04.797] [info] Accepted new action goal ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5).[0m ×2 + 18.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 18.08sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Received new action goal ×2 + 18.08sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Accepted new action goal ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5).[0m ×2 + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2).[0m ×2 + 19.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705288.09519315 seconds ×3 + 20.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705288.71657801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705288.80671716 seconds ×3 + 20.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2).[0m ×2 + 20.82sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705289.45253587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 20.93sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 20.93sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.94sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Received new action goal ×2 + 20.94sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Accepted new action goal ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5).[0m ×2 + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 57 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024447 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024447 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 1 iterations (0.00381065 s). ×2 + 0.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.59sINFOros2_control_node[2026-08-26 00:48:39.620] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-26 00:48:39.620] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277355 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277355 ms (missed cycles : 3).[0m ×2 + 1.02sINFOros2_control_node[2026-08-26 00:48:40.052] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-26 00:48:40.052] [info] Accepted new action goal ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069477 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069477 ms (missed cycles : 3).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.53sINFOobjective_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 + 2.54sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.54sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.54sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.54sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.58sERRORobjective_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: 1787705321.60776639 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532961 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532961 ms (missed cycles : 6).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787705322.39231920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.54sINFOros2_control_node[2026-08-26 00:48:42.566] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-08-26 00:48:42.566] [info] Accepted new action goal ×2 + 3.98sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.046291 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.046291 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784627 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784627 ms (missed cycles : 5).[0m ×2 + 6.05sINFOros2_control_node[2026-08-26 00:48:45.077] [info] Received new action goal ×2 + 6.05sINFOros2_control_node[2026-08-26 00:48:45.077] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733268 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733268 ms (missed cycles : 3).[0m ×2 + 7.49sWARNros2_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 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400478 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400478 ms (missed cycles : 3).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687568 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687568 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185430 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185430 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735665 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735665 ms (missed cycles : 2).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629806 ms (missed cycles : 4). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629806 ms (missed cycles : 4).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695693 ms (missed cycles : 3). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695693 ms (missed cycles : 3).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045687 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045687 ms (missed cycles : 2).[0m ×2 + 14.61sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787705333.63928080 seconds ×3 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071902 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071902 ms (missed cycles : 3).[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705334.30529809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705334.36544061 seconds ×3 + 15.94sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705334.96982050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.06sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 16.06sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.08sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Received new action goal ×2 + 16.08sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Accepted new action goal ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2).[0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 57 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673495 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673495 ms (missed cycles : 3).[0m ×2 + 0.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.74sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.74sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.74sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919212 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919212 ms (missed cycles : 2).[0m ×2 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-08-26 00:49:47.129] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-08-26 00:49:47.129] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196425 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196425 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787705388.28586364 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396571 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396571 ms (missed cycles : 2).[0m ×2 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787705389.34571385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998015 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998015 ms (missed cycles : 3).[0m ×2 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.03sINFOros2_control_node[2026-08-26 00:49:50.540] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-08-26 00:49:50.540] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407207 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407207 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914244 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914244 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697029 ms (missed cycles : 5). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697029 ms (missed cycles : 5).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022598 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022598 ms (missed cycles : 2).[0m ×2 + 8.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.73sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.73sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.73sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.73sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201901 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201901 ms (missed cycles : 3).[0m ×2 + 10.15sWARNros2_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 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106837 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.106837 ms (missed cycles : 3).[0m ×2 + 11.10sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.12sINFOros2_control_node[2026-08-26 00:49:56.630] [info] Received new action goal ×2 + 11.12sINFOros2_control_node[2026-08-26 00:49:56.630] [info] Accepted new action goal ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235136 ms (missed cycles : 7). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235136 ms (missed cycles : 7).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823360 ms (missed cycles : 5). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823360 ms (missed cycles : 5).[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823838 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823838 ms (missed cycles : 2).[0m ×2 + 14.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787705400.23586798 seconds ×3 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364249 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364249 ms (missed cycles : 2).[0m ×2 + 15.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705400.84195900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sINFOobjective_server_nodeFound path in 0 iterations (7.86e-07 s). ×2 + 15.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.52sINFOros2_control_node[2026-08-26 00:50:01.025] [info] Received new action goal ×2 + 15.52sINFOros2_control_node[2026-08-26 00:50:01.025] [info] Accepted new action goal ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506573 ms (missed cycles : 6). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506573 ms (missed cycles : 6).[0m ×2 + 16.04sWARNros2_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 + 16.78sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374902 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374902 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 59 errors · 45 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4).[0m ×2 + 1.41sINFOobjective_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 + 1.41sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Got request to cancel active goal. ×2 + 1.41sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Canceling active goal... ×2 + 1.41sERRORobjective_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: 1787705553.56684399 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705554.16405344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705554.90418458 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705555.50066352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.35sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.35sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.35sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705555.50265980 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705556.22151589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705556.22199392 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705556.82136488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830184 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830184 ms (missed cycles : 6).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705557.96149278 seconds ×3 + 5.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129383 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129383 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461296 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461296 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256061 ms (missed cycles : 5). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.256061 ms (missed cycles : 5).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960546 ms (missed cycles : 5). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960546 ms (missed cycles : 5).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598510 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598510 ms (missed cycles : 2).[0m ×2 + 10.86sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.50sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.54sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORweb_video_auth_proxy-23process has died [pid 8906, 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 + 11.55sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.56sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORweb_bridge_auth_proxy-22process has died [pid 8905, 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 + 11.56sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.56sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.58sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.59sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.60sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.62sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.62sINFOvideo_server-21process has finished cleanly [pid 8902] ×2 + 11.63sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.64sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.65sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.67sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.68sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.69sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.70sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.71sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605064 ms (missed cycles : 2). + 11.73sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.75sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.75sINFOcontroller_managerShutdown request received.... + 11.75sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.75sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.75sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.75sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.75sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.75sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.75sINFOvideo_server2026/08/26 00:52:43 INF shutting down gracefully ×2 + 11.75sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.75sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.75sINFOvideo_server2026/08/26 00:52:43 INF [WebRTC] closing ×2 + 11.75sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.75sINFOvideo_server2026/08/26 00:52:43 INF [RTSP] closing ×2 + 11.75sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.75sINFOvideo_server2026/08/26 00:52:43 INF waiting for running hooks ×2 + 11.75sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.75sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.75sINFOcontroller_managerShutting down the controller manager. + 11.75sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.75sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.75sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605064 ms (missed cycles : 2).[0m ×2 + 11.75sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.75sERRORmove_group-9process has died [pid 8831, 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_8zusoxjo --params-file /tmp/launch_params_s2tia6ns --params-file /tmp/launch_params_rg7731s7 --params-file /tmp/launch_params_fig4ajew --params-file /tmp/launch_params_tcvymyaa --params-file /tmp/launch_params_6atm9voe']. ×2 + 11.76sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.76sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.76sERRORmove_groupStack trace (most recent call last) in thread 9112: ×2 + 11.76sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.76sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79632dab63, in __clone ×2 + 11.76sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f796324db83, in ×2 + 11.76sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f79634dfdb3, in ×2 + 11.76sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f7963c50637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.76sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7963871620, in rclcpp::Rate::sleep() ×2 + 11.76sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f79637b3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.76sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7963775087, in ×2 + 11.76sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f79634ae390, in __cxa_throw ×2 + 11.76sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7963498a54, in std::terminate() ×2 + 11.76sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f79634ae0d9, in ×2 + 11.76sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7963498ff4, in ×2 + 11.76sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79631d98fe, in abort ×2 + 11.76sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f79631f627d, in raise ×2 + 11.76sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f796324fc0c, in pthread_kill ×2 + 11.76sERRORmove_groupAborted (Signal sent by tkill() 8831 0) ×2 + 11.76sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.76sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.76sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.76sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.76sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.76sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.76sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.76sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.76sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.76sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.76sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.76sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.76sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.76sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.93sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.93sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.93sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.63sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8896] ×2 + 12.64sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.71sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8835] ×2 + 12.72sINFOui_teleop_bridge-18process has finished cleanly [pid 8840] ×2 + 12.73sINFOexecute_objective_bridge-17process has finished cleanly [pid 8839] ×2 + 12.73sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8834] ×2 + 12.73sINFOcomponent_container_mt-16process has finished cleanly [pid 8838] ×2 + 12.77sINFOwaypoint_manager_node-11process has finished cleanly [pid 8833] ×2 + 12.79sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.80sINFOparameter_manager_node-10process has finished cleanly [pid 8832] ×2 + 12.87sINFOobjective_server_node[0;m[2026-08-26 00:52:45.025] [moveit_pro_license] [info] ×2 + 12.87sINFOobjective_server_node************************************************* ×4 + 12.87sINFOobjective_server_node* MoveIt Pro License ×2 + 12.87sINFOobjective_server_node* Application has successfully terminated ×2 + 13.36sINFOobjective_server_node_main-14process has finished cleanly [pid 8836] ×2 + 13.36sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.76sINFOweb_bridge-19process has finished cleanly [pid 8841] ×2 + 13.76sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.85sINFOcomponent_container_mt-15process has finished cleanly [pid 8837] ×2 + 14.37sINFOros2_control_node-1process has finished cleanly [pid 8794] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 63 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[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: ``}. ×6 + 2.64sERRORobjective_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: 1787705541.06391859 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238199 ms (missed cycles : 5). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238199 ms (missed cycles : 5).[0m ×2 + 8.17sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 8.18sINFOros2_control_node[2026-08-26 00:52:26.606] [info] Received new action goal ×2 + 8.18sINFOros2_control_node[2026-08-26 00:52:26.606] [info] Accepted new action goal ×2 + 8.18sINFOros2_control_node[2026-08-26 00:52:26.606] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715260 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715260 ms (missed cycles : 2).[0m ×2 + 9.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320663 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320663 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770955 ms (missed cycles : 3). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770955 ms (missed cycles : 3).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967087 ms (missed cycles : 2). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967087 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628109 ms (missed cycles : 6). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628109 ms (missed cycles : 6).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4).[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4).[0m ×2 + 15.13sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Got request to cancel active goal. ×2 + 15.13sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Canceling active goal... ×2 + 15.14sERRORobjective_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: 1787705553.56684399 seconds ×3 + 15.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705554.16405344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5).[0m ×2 + 16.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705554.90418458 seconds ×3 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4).[0m ×2 + 17.07sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705555.50066352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.07sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.07sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 17.07sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.07sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705555.50265980 seconds ×3 + 17.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705556.22151589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.79sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705556.22199392 seconds ×3 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3).[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 1.916643 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.97 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 1.59sWARNros2_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 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 3.93sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.07sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 + 6.13sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674036 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674036 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (4.91e-07 s). ×2 + 6.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.59sINFOros2_control_node[2026-08-26 00:47:43.472] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-08-26 00:47:43.473] [info] Accepted new action goal ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432110 ms (missed cycles : 6). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432110 ms (missed cycles : 6).[0m ×2 + 7.72sWARNros2_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 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039197 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039197 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691442 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691442 ms (missed cycles : 3).[0m ×2 + 10.32sINFOobjective_server_nodeFound path in 0 iterations (5.05e-07 s). ×2 + 10.34sINFOros2_control_node[2026-08-26 00:47:47.223] [info] Received new action goal ×2 + 10.34sINFOros2_control_node[2026-08-26 00:47:47.223] [info] Accepted new action goal ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578849 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578849 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5).[0m ×2 + 13.65sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 13.66sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.67sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Received new action goal ×2 + 13.67sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Accepted new action goal ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5).[0m ×2 + 14.28sINFOobjective_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 + 14.29sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Got request to cancel active goal. ×2 + 14.29sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Canceling active goal... ×2 + 14.30sERRORobjective_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: 1787705271.18560004 seconds ×3 + 14.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3).[0m ×2 + 14.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705271.82602882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705271.93616986 seconds ×3 + 15.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705272.55322719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 15.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.87sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Received new action goal ×2 + 15.87sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Accepted new action goal ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499475 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499475 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424046 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424046 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298503 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298503 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787705530.08484006 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787705530.69363737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (6.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-08-26 00:52:10.828] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-08-26 00:52:10.828] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870974 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870974 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300398 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300398 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180444 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180444 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802138 ms (missed cycles : 5). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.802138 ms (missed cycles : 5).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014431 ms (missed cycles : 5). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014431 ms (missed cycles : 5).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622100 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622100 ms (missed cycles : 2).[0m ×2 + 9.75sWARNros2_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 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[0m ×2 + 14.33sINFOobjective_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 + 14.34sERRORobjective_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: 1787705541.06391859 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 15.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.70sINFOobjective_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 + 15.70sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 15.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 16.42sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.54sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 16.55sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.56sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 16.56sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.992334 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.992334 ms (missed cycles : 6).[0m ×2 + 0.86sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245270 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245270 ms (missed cycles : 3).[0m ×2 + 1.29sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.57sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.57sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.57sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787705308.48009109 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544200 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544200 ms (missed cycles : 4).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777513 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777513 ms (missed cycles : 2).[0m ×2 + 3.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028532 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028532 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787705311.29421616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.61sINFOros2_control_node[2026-08-26 00:48:31.498] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-26 00:48:31.498] [info] Accepted new action goal ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511414 ms (missed cycles : 6). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511414 ms (missed cycles : 6).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.611695 ms (missed cycles : 6). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.611695 ms (missed cycles : 6).[0m ×2 + 7.51sWARNros2_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 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265906 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265906 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.573393 ms (missed cycles : 9). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.573393 ms (missed cycles : 9).[0m ×2 + 8.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.78sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 9.05sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (4.57e-07 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.07sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (8.75e-07 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.18sINFOobjective_server_nodeFound path in 1 iterations (0.00291049 s). ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.31sINFOobjective_server_nodeFound path in 1 iterations (0.00444024 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 9.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 9.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032860 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032860 ms (missed cycles : 2).[0m ×2 + 9.77sINFOros2_control_node[2026-08-26 00:48:36.651] [info] Received new action goal ×2 + 9.77sINFOros2_control_node[2026-08-26 00:48:36.651] [info] Accepted new action goal ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010666 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010666 ms (missed cycles : 3).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024447 ms (missed cycles : 4). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024447 ms (missed cycles : 4).[0m ×2 + 12.45sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 12.45sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.45sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 12.45sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.46sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 12.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.54sINFOobjective_server_nodeFound path in 1 iterations (0.00381065 s). ×2 + 12.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.74sINFOros2_control_node[2026-08-26 00:48:39.620] [info] Received new action goal ×2 + 12.74sINFOros2_control_node[2026-08-26 00:48:39.620] [info] Accepted new action goal ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277355 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277355 ms (missed cycles : 3).[0m ×2 + 13.17sINFOros2_control_node[2026-08-26 00:48:40.052] [info] Received new action goal ×2 + 13.17sINFOros2_control_node[2026-08-26 00:48:40.052] [info] Accepted new action goal ×2 + 13.60sWARNros2_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 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069477 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069477 ms (missed cycles : 3).[0m ×2 + 14.67sINFOobjective_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 + 14.68sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.68sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.68sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.72sERRORobjective_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: 1787705321.60776639 seconds ×3 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532961 ms (missed cycles : 6). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532961 ms (missed cycles : 6).[0m ×2 + 15.51sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787705322.39231920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 15.68sINFOros2_control_node[2026-08-26 00:48:42.566] [info] Received new action goal ×2 + 15.68sINFOros2_control_node[2026-08-26 00:48:42.566] [info] Accepted new action goal ×2 + 16.13sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.046291 ms (missed cycles : 5). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.046291 ms (missed cycles : 5).[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784627 ms (missed cycles : 5). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784627 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 58 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409437 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409437 ms (missed cycles : 2).[0m ×2 + 8.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.44sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056520 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056520 ms (missed cycles : 2).[0m ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.75sINFOobjective_server_nodeFound path in 0 iterations (1.157e-06 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.77sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 1 iterations (0.0027936 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 1 iterations (0.00568279 s). ×2 + 9.12sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.14sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 9.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.27sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 9.38sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.52sINFOros2_control_node[2026-08-26 00:48:25.756] [info] Received new action goal ×2 + 9.52sINFOros2_control_node[2026-08-26 00:48:25.756] [info] Accepted new action goal ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008029 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008029 ms (missed cycles : 2).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.992334 ms (missed cycles : 6). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.992334 ms (missed cycles : 6).[0m ×2 + 11.51sWARNros2_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 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245270 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245270 ms (missed cycles : 3).[0m ×2 + 11.94sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.22sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787705308.48009109 seconds ×3 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544200 ms (missed cycles : 4). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544200 ms (missed cycles : 4).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777513 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777513 ms (missed cycles : 2).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028532 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028532 ms (missed cycles : 2).[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787705311.29421616 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.25sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 15.26sINFOros2_control_node[2026-08-26 00:48:31.498] [info] Received new action goal ×2 + 15.26sINFOros2_control_node[2026-08-26 00:48:31.498] [info] Accepted new action goal ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511414 ms (missed cycles : 6). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511414 ms (missed cycles : 6).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.611695 ms (missed cycles : 6). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.611695 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 54 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 ×6 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725256 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725256 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618433 ms (missed cycles : 4). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618433 ms (missed cycles : 4).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259470 ms (missed cycles : 4). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259470 ms (missed cycles : 4).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764085 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764085 ms (missed cycles : 2).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528900 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528900 ms (missed cycles : 2).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176809 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176809 ms (missed cycles : 2).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200298 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200298 ms (missed cycles : 2).[0m ×2 + 14.57sERRORobjective_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: 1787705519.56292129 seconds ×3 + 15.20sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787705520.18798399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010863 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010863 ms (missed cycles : 2).[0m ×2 + 15.48sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 15.49sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.50sINFOros2_control_node[2026-08-26 00:52:00.491] [info] Received new action goal ×2 + 15.50sINFOros2_control_node[2026-08-26 00:52:00.491] [info] Accepted new action goal ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673819 ms (missed cycles : 6). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673819 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705288.09519315 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705288.71657801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705288.80671716 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705289.45253587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.81sWARNros2_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 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642777 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642777 ms (missed cycles : 5).[0m ×2 + 7.19sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.20sINFOros2_control_node[2026-08-26 00:48:12.926] [info] Received new action goal ×2 + 7.20sINFOros2_control_node[2026-08-26 00:48:12.926] [info] Accepted new action goal ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.182318 ms (missed cycles : 5). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.182318 ms (missed cycles : 5).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832379 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832379 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494881 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494881 ms (missed cycles : 2).[0m ×2 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 9.55sINFOros2_control_node[2026-08-26 00:48:15.274] [info] Received new action goal ×2 + 9.55sINFOros2_control_node[2026-08-26 00:48:15.274] [info] Accepted new action goal ×2 + 9.85sWARNros2_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 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 11.89sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 11.91sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 13.93sINFOobjective_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 + 13.93sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 13.93sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 13.95sERRORobjective_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: 1787705299.67586970 seconds ×3 + 14.59sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 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 1.828633 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 14.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.78sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 15.88sWARNros2_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 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 54 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978131 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978131 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002010 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002010 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019320 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019320 ms (missed cycles : 4).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.01sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787705497.87922120 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905153 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905153 ms (missed cycles : 4).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787705498.55869126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-08-26 00:51:38.793] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-08-26 00:51:38.793] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744413 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744413 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750178 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750178 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619756 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619756 ms (missed cycles : 4).[0m ×2 + 6.68sWARNros2_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 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124140 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124140 ms (missed cycles : 2).[0m ×2 + 7.99sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.99sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.99sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.15sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.36sINFOobjective_server_nodeFound path in 1 iterations (0.00321085 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.52sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.55sINFOros2_control_node[2026-08-26 00:51:43.416] [info] Received new action goal ×2 + 8.55sINFOros2_control_node[2026-08-26 00:51:43.416] [info] Accepted new action goal ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284533 ms (missed cycles : 2). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284533 ms (missed cycles : 2).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 11.02sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 11.02sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 12.54sWARNros2_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 + 12.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.94sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 12.94sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 13.78sINFOobjective_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 + 13.78sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 13.78sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 13.80sERRORobjective_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: 1787705508.66354156 seconds ×3 + 14.48sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 14.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 14.66sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 16.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5).[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 1.764085 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764085 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528900 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528900 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176809 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176809 ms (missed cycles : 2).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200298 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200298 ms (missed cycles : 2).[0m ×2 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.82sINFOobjective_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 + 3.82sERRORobjective_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: 1787705519.56292129 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787705520.18798399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010863 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010863 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.75sINFOros2_control_node[2026-08-26 00:52:00.491] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-26 00:52:00.491] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673819 ms (missed cycles : 6). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673819 ms (missed cycles : 6).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775687 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775687 ms (missed cycles : 2).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147529 ms (missed cycles : 4). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147529 ms (missed cycles : 4).[0m ×2 + 8.76sINFOros2_control_node[2026-08-26 00:52:04.500] [info] Received new action goal ×2 + 8.76sINFOros2_control_node[2026-08-26 00:52:04.500] [info] Accepted new action goal ×2 + 8.87sWARNros2_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 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350235 ms (missed cycles : 4). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350235 ms (missed cycles : 4).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542098 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542098 ms (missed cycles : 3).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499475 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499475 ms (missed cycles : 2).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424046 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424046 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298503 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298503 ms (missed cycles : 2).[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787705530.08484006 seconds ×3 + 14.64sWARNros2_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 + 14.95sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787705530.69363737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (6.13e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.09sINFOros2_control_node[2026-08-26 00:52:10.828] [info] Received new action goal ×2 + 15.09sINFOros2_control_node[2026-08-26 00:52:10.828] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870974 ms (missed cycles : 2). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870974 ms (missed cycles : 2).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300398 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300398 ms (missed cycles : 2).[0m ×2 + 16.99sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180444 ms (missed cycles : 4). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180444 ms (missed cycles : 4).[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: 1787705334.30529809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.05sINFOros2_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 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705334.36544061 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705334.96982050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787705337.10997438 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853054 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853054 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921173 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921173 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787705338.70876503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956172 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956172 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_node[2026-08-26 00:49:00.427] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403658 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403658 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_node[0;93m2026-08-26 00:49:01.256905486 [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 + 6.95sINFOobjective_server_node[0;93m2026-08-26 00:49:01.256938900 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3).[0m ×2 + 8.05sINFOobjective_server_node[2026-08-26 00:49:02.351] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.54sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845164774 [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 + 8.54sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845195818 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2).[0m ×2 + 8.73sINFOobjective_server_node[2026-08-26 00:49:03.030] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.78sINFOobjective_server_node[0;93m2026-08-26 00:49:03.084962238 [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 + 8.78sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087859496 [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 + 8.78sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087882140 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.85sINFOobjective_server_node[2026-08-26 00:49:03.150] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.23sINFOobjective_server_node[0;93m2026-08-26 00:49:03.530435283 [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 + 9.25sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558264342 [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 + 9.25sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558294695 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2).[0m ×2 + 10.37sWARNros2_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 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2).[0m ×2 + 11.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705345.41879487 seconds ×3 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4).[0m ×2 + 11.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705346.12280321 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 + 12.18sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 12.18sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.23sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Received new action goal ×2 + 12.23sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Accepted new action goal ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 130 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629806 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695693 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695693 ms (missed cycles : 3).[0m ×2 + 1.67sWARNros2_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 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045687 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045687 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787705333.63928080 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071902 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071902 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705334.30529809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.54sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705334.36544061 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705334.96982050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787705337.10997438 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853054 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853054 ms (missed cycles : 2).[0m ×2 + 7.81sWARNros2_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 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921173 ms (missed cycles : 4). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921173 ms (missed cycles : 4).[0m ×2 + 7.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787705338.70876503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956172 ms (missed cycles : 4). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956172 ms (missed cycles : 4).[0m ×2 + 9.61sINFOobjective_server_node[2026-08-26 00:49:00.427] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403658 ms (missed cycles : 3). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403658 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 34 warnings · 563 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.19sINFOobjective_server_node[2026-08-26 00:47:32.425] [moveit_pro_license] [info] ×2 + 0.19sINFOobjective_server_node************************************************* ×4 + 0.19sINFOobjective_server_node* MoveIt Pro License ×2 + 0.19sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.31sINFOobjective_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 + 0.31sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.32sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.70sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.70sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.75sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.75sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.75sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.75sWARNros2_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 + 0.75sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.75sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.75sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.75sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.75sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.75sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.75sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.75sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.75sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.75sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.75sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.76sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.76sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.76sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.76sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.76sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.76sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.76sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.76sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.76sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.81sINFOcomponent_container_mt[2026-08-26 00:47:33.050] [moveit_pro_license] [info] ×2 + 0.81sINFOcomponent_container_mt************************************************* ×4 + 0.81sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.81sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.90sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.02sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.03sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010457 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010457 ms (missed cycles : 2).[0m ×2 + 1.07sINFOros2_control_node[2026-08-26 00:47:33.304] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-08-26 00:47:33.305] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.28sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.38sINFOros2-8process has finished cleanly [pid 8801] ×2 + 1.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.49sINFOros2_control_node[2026-08-26 00:47:33.725] [info] Controller state will be published at 10 Hz. ×2 + 1.49sINFOros2_control_node[2026-08-26 00:47:33.726] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.82sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.82sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.82sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.82sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.82sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.82sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.83sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.85sINFOros2-7process has finished cleanly [pid 8800] ×2 + 1.87sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.87sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.87sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.87sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.88sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.88sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6).[0m ×2 + 2.19sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.19sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.19sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 2.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 2.23sINFOros2-3process has finished cleanly [pid 8796] ×2 + 2.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.26sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.27sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.27sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.27sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.27sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.44sWARNobjective_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 + 2.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.57sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.57sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.57sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.58sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 2.58sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 2.62sINFOros2-4process has finished cleanly [pid 8797] ×2 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.65sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.65sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.66sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.66sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.66sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.66sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.66sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.66sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.66sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.66sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.67sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.67sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.87sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.98sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.98sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.98sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.98sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.99sINFOros2-5process has finished cleanly [pid 8798] ×2 + 3.05sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 3.05sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 3.09sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.09sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.10sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.10sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.12sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.12sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 3.13sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 3.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 3.46sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 3.48sINFOros2-6process has finished cleanly [pid 8799] ×2 + 3.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.51sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.51sINFOforce_torque_sensor_broadcasterconfigure successful + 3.51sINFOros2_control_nodeconfigure successful[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.52sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.52sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.86sINFOros2-2process has finished cleanly [pid 8795] ×2 + 3.89sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 4.96sWARNros2_control_nodeCamera render tick took 1.97 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 + 5.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 6.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 7.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 7.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 29 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967087 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967087 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628109 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628109 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4).[0m ×2 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Canceling active goal... ×2 + 3.58sERRORobjective_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: 1787705553.56684399 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705554.16405344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705554.90418458 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705555.50066352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.51sINFOobjective_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 + 5.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705555.50265980 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705556.22151589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705556.22199392 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705556.82136488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830184 ms (missed cycles : 6). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830184 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578849 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578849 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5).[0m ×2 + 2.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.93sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Accepted new action goal ×2 + 2.96sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787705271.18560004 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705271.82602882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705271.93616986 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705272.55322719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735665 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629806 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629806 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695693 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695693 ms (missed cycles : 3).[0m ×2 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045687 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045687 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787705333.63928080 seconds ×3 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071902 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071902 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705334.30529809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705334.36544061 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705334.96982050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.34sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6).[0m ×2 + 7.35sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787705337.10997438 seconds ×3 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853054 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853054 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4).[0m ×2 + 1.41sINFOobjective_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 + 1.41sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Got request to cancel active goal. ×2 + 1.41sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Canceling active goal... ×2 + 1.41sERRORobjective_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: 1787705553.56684399 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705554.16405344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705554.90418458 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705555.50066352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.35sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.35sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.35sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705555.50265980 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705556.22151589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705556.22199392 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705556.82136488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830184 ms (missed cycles : 6). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830184 ms (missed cycles : 6).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705557.96149278 seconds ×3 + 5.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129383 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129383 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 4.887368 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887368 ms (missed cycles : 3).[0m ×2 + 0.15sINFOros2_control_node[2026-08-26 00:48:04.797] [info] Received new action goal ×2 + 0.15sINFOros2_control_node[2026-08-26 00:48:04.797] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5).[0m ×2 + 1.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.06sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Received new action goal ×2 + 2.06sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705288.09519315 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705288.71657801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705288.80671716 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705289.45253587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.93sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Received new action goal ×2 + 4.93sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4).[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 4.924150 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.95sERRORobjective_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: 1787705541.06391859 seconds ×3 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 5.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 30 warnings · 454 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-26 00:47:33.725] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-08-26 00:47:33.726] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.44sINFOros2-7process has finished cleanly [pid 8800] ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.82sINFOros2-3process has finished cleanly [pid 8796] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sWARNobjective_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 + 1.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 8797] ×2 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.25sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.25sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.25sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.25sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.57sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.59sINFOros2-5process has finished cleanly [pid 8798] ×2 + 1.64sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.64sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.68sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.68sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.69sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.69sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.71sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.71sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 1.72sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 2.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 2.07sINFOros2-6process has finished cleanly [pid 8799] ×2 + 2.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.10sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.11sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.11sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.45sINFOros2-2process has finished cleanly [pid 8795] ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 3.55sWARNros2_control_nodeCamera render tick took 1.97 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 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 7.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 7.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.30sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 7.30sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[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 + 2.64sERRORobjective_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: 1787705541.06391859 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_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 ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.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 8.628109 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628109 ms (missed cycles : 6).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4).[0m ×2 + 1.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Got request to cancel active goal. ×2 + 2.43sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Canceling active goal... ×2 + 2.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787705553.56684399 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705554.16405344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705554.90418458 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705555.50066352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.36sINFOobjective_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 + 4.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705555.50265980 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705556.22151589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705556.22199392 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705556.82136488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830184 ms (missed cycles : 6). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.830184 ms (missed cycles : 6).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705557.96149278 seconds ×3 + 6.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3).[0m ×2 + 0.40sINFOobjective_server_node[2026-08-26 00:49:02.351] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845164774 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845195818 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-26 00:49:03.030] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.084962238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087859496 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087882140 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-26 00:49:03.150] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:49:03.530435283 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558264342 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558294695 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2).[0m ×2 + 2.72sWARNros2_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 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705345.41879487 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705346.12280321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.26sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 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 6.777884 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705288.09519315 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705288.71657801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705288.80671716 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705289.45253587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sWARNros2_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 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735665 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629806 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629806 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695693 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695693 ms (missed cycles : 3).[0m ×2 + 2.72sWARNros2_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 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045687 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045687 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787705333.63928080 seconds ×3 + 3.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.96sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071902 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071902 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705334.30529809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.59sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.59sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705334.36544061 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705334.96982050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.33sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 5.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.34sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Received new action goal ×2 + 5.34sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3).[0m ×2 + 0.40sINFOobjective_server_node[2026-08-26 00:49:02.351] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845164774 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845195818 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-26 00:49:03.030] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.084962238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087859496 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087882140 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-26 00:49:03.150] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:49:03.530435283 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558264342 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558294695 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2).[0m ×2 + 2.72sWARNros2_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 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705345.41879487 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705346.12280321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.26sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3).[0m ×2 + 0.40sINFOobjective_server_node[2026-08-26 00:49:02.351] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845164774 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845195818 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-26 00:49:03.030] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.084962238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087859496 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087882140 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-26 00:49:03.150] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:49:03.530435283 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558264342 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558294695 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2).[0m ×2 + 2.72sWARNros2_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 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705345.41879487 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705346.12280321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.26sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3).[0m ×2 + 0.40sINFOobjective_server_node[2026-08-26 00:49:02.351] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845164774 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845195818 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-26 00:49:03.030] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.084962238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087859496 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087882140 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-26 00:49:03.150] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:49:03.530435283 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558264342 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558294695 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2).[0m ×2 + 2.72sWARNros2_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 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705345.41879487 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705346.12280321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.26sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2535 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×411 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×411 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×822 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×822 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691445 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691445 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_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 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742176 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742176 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017796 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017796 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502487 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502487 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705466.81247687 seconds ×3 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081352 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081352 ms (missed cycles : 7).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787705467.44901514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOobjective_server_nodeFound path in 5 iterations (0.0057667 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.94sINFOros2_control_node[2026-08-26 00:51:07.715] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-26 00:51:07.715] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893862 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893862 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450766 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450766 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978131 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978131 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002010 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002010 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019320 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019320 ms (missed cycles : 4).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787705497.87922120 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905153 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905153 ms (missed cycles : 4).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787705498.55869126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-08-26 00:51:38.793] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-08-26 00:51:38.793] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744413 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744413 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750178 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750178 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978131 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978131 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002010 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002010 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019320 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019320 ms (missed cycles : 4).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.01sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787705497.87922120 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905153 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905153 ms (missed cycles : 4).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787705498.55869126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-08-26 00:51:38.793] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-08-26 00:51:38.793] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744413 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744413 ms (missed cycles : 5).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750178 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750178 ms (missed cycles : 3).[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 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 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 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 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 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 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 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5).[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 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 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 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 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 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 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 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5).[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 2.499475 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499475 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424046 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424046 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298503 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298503 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019686 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787705530.08484006 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787705530.69363737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (6.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.10sINFOros2_control_node[2026-08-26 00:52:10.828] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-08-26 00:52:10.828] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870974 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870974 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300398 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300398 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180444 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180444 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.95sERRORobjective_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: 1787705541.06391859 seconds ×3 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 5.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967087 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967087 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628109 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628109 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4).[0m ×2 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Canceling active goal... ×2 + 3.58sERRORobjective_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: 1787705553.56684399 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705554.16405344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705554.90418458 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705555.50066352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.51sINFOobjective_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 + 5.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705555.50265980 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705556.22151589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705556.22199392 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967087 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967087 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628109 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628109 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258541 ms (missed cycles : 4).[0m ×2 + 2.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544622 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Got request to cancel active goal. ×2 + 3.57sINFOros2_control_node[2026-08-26 00:52:33.562] [info] Canceling active goal... ×2 + 3.58sERRORobjective_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: 1787705553.56684399 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.17sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705554.16405344 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414649 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705554.90418458 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593103 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705555.50066352 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.51sINFOobjective_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 + 5.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705555.50265980 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705556.22151589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705556.22199392 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763721 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578849 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578849 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5).[0m ×2 + 2.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.93sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Accepted new action goal ×2 + 2.96sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787705271.18560004 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705271.82602882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705271.93616986 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705272.55322719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578849 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578849 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5).[0m ×2 + 2.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.93sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Received new action goal ×2 + 2.93sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Accepted new action goal ×2 + 2.96sWARNros2_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 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787705271.18560004 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705271.82602882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705271.93616986 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705272.55322719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 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 1.830060 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5).[0m ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Accepted new action goal ×2 + 1.95sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Got request to cancel active goal. ×2 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Canceling active goal... ×2 + 2.55sERRORobjective_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: 1787705271.18560004 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705271.82602882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705271.93616986 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705272.55322719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 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 1.830060 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5).[0m ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Accepted new action goal ×2 + 1.95sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Got request to cancel active goal. ×2 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Canceling active goal... ×2 + 2.55sERRORobjective_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: 1787705271.18560004 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705271.82602882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705271.93616986 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705272.55322719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 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 1.830060 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5).[0m ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Accepted new action goal ×2 + 1.95sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Got request to cancel active goal. ×2 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Canceling active goal... ×2 + 2.55sERRORobjective_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: 1787705271.18560004 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705271.82602882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705271.93616986 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705272.55322719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 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 1.830060 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830060 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.473142 ms (missed cycles : 5).[0m ×2 + 1.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 1.91sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-26 00:47:50.553] [info] Accepted new action goal ×2 + 1.95sWARNros2_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 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.721583 ms (missed cycles : 5).[0m ×2 + 2.53sINFOobjective_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 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Got request to cancel active goal. ×2 + 2.54sINFOros2_control_node[2026-08-26 00:47:51.169] [info] Canceling active goal... ×2 + 2.55sERRORobjective_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: 1787705271.18560004 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917639 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705271.82602882 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705271.93616986 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705272.55322719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-26 00:47:52.747] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705801 ms (missed cycles : 5).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253547 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 6.777884 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705288.09519315 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705288.71657801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705288.80671716 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705289.45253587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sWARNros2_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 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4).[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 6.777884 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705288.09519315 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705288.71657801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705288.80671716 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705289.45253587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sWARNros2_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 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4).[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 6.777884 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705288.09519315 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705288.71657801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705288.80671716 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705289.45253587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sWARNros2_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 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4).[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 6.777884 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777884 ms (missed cycles : 5).[0m ×2 + 0.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Received new action goal ×2 + 0.98sINFOros2_control_node[2026-08-26 00:48:06.708] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350353 ms (missed cycles : 5).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231871 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705288.09519315 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.37sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705288.71657801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705288.80671716 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977799 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705289.45253587 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sWARNros2_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 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-08-26 00:48:09.577] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.943123 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.298089 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946252 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264152 ms (missed cycles : 2).[0m ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:48:17.634] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013622 ms (missed cycles : 4).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734070 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Got request to cancel active goal. ×2 + 3.42sINFOros2_control_node[2026-08-26 00:48:19.662] [info] Canceling active goal... ×2 + 3.44sERRORobjective_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: 1787705299.67586970 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.48sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705300.31805015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828633 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-26 00:48:20.511] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794318 ms (missed cycles : 2).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404604 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024447 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024447 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (4.79e-07 s). ×2 + 0.37sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.40sINFOobjective_server_nodeFound path in 1 iterations (0.00381065 s). ×2 + 0.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOros2_control_node[2026-08-26 00:48:39.620] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-26 00:48:39.620] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277355 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277355 ms (missed cycles : 3).[0m ×2 + 1.02sINFOros2_control_node[2026-08-26 00:48:40.052] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-26 00:48:40.052] [info] Accepted new action goal ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069477 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069477 ms (missed cycles : 3).[0m ×2 + 2.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.53sINFOobjective_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 + 2.54sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.54sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.54sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.54sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.58sERRORobjective_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: 1787705321.60776639 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532961 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.532961 ms (missed cycles : 6).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787705322.39231920 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.54sINFOros2_control_node[2026-08-26 00:48:42.566] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-08-26 00:48:42.566] [info] Accepted new action goal ×2 + 3.98sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.046291 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.046291 ms (missed cycles : 5).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784627 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784627 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 102 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705334.30529809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_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 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705334.36544061 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705334.96982050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-26 00:48:55.104] [info] Accepted new action goal ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795424 ms (missed cycles : 2).[0m ×2 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6). + 1.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384146 ms (missed cycles : 6).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787705337.10997438 seconds ×3 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853054 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853054 ms (missed cycles : 2).[0m ×2 + 4.32sWARNros2_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 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921173 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921173 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787705338.70876503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956172 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956172 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_node[2026-08-26 00:49:00.427] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403658 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403658 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672174 ms (missed cycles : 3).[0m ×2 + 0.40sINFOobjective_server_node[2026-08-26 00:49:02.351] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845164774 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-26 00:49:02.845195818 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218222 ms (missed cycles : 2).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-26 00:49:03.030] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.084962238 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087859496 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-26 00:49:03.087882140 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.20sINFOobjective_server_node[2026-08-26 00:49:03.150] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:49:03.530435283 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558264342 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-26 00:49:03.558294695 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891415 ms (missed cycles : 2).[0m ×2 + 2.72sWARNros2_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 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515246 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705345.41879487 seconds ×3 + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007618 ms (missed cycles : 4).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705346.12280321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.26sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-26 00:49:06.530] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465174 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747389 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-26 00:49:56.630] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-26 00:49:56.630] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235136 ms (missed cycles : 7). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.235136 ms (missed cycles : 7).[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823360 ms (missed cycles : 5). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.823360 ms (missed cycles : 5).[0m ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823838 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823838 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787705400.23586798 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364249 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364249 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705400.84195900 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 (7.86e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-08-26 00:50:01.025] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-26 00:50:01.025] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506573 ms (missed cycles : 6). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.506573 ms (missed cycles : 6).[0m ×2 + 5.03sWARNros2_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 + 5.77sINFOobjective_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 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374902 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374902 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2535 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×411 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×411 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×822 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×822 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691445 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691445 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_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 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742176 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742176 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017796 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017796 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502487 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502487 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705466.81247687 seconds ×3 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081352 ms (missed cycles : 7). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.081352 ms (missed cycles : 7).[0m ×2 + 4.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787705467.44901514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOobjective_server_nodeFound path in 5 iterations (0.0057667 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.94sINFOros2_control_node[2026-08-26 00:51:07.715] [info] Received new action goal ×2 + 4.94sINFOros2_control_node[2026-08-26 00:51:07.715] [info] Accepted new action goal ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893862 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893862 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450766 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450766 ms (missed cycles : 3).[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 8.260497 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260497 ms (missed cycles : 5).[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-08-26 00:51:45.889] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730132 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351023 ms (missed cycles : 6).[0m ×2 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sWARNros2_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 + 2.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Received new action goal ×2 + 2.82sINFOros2_control_node[2026-08-26 00:51:47.802] [info] Accepted new action goal ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933324 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Got request to cancel active goal. ×2 + 3.66sINFOros2_control_node[2026-08-26 00:51:48.648] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787705508.66354156 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705509.34247851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (1.071e-06 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804817 ms (missed cycles : 2).[0m ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:51:49.527] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642324 ms (missed cycles : 4).[0m ×2 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.793064 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764085 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764085 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528900 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528900 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176809 ms (missed cycles : 2). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176809 ms (missed cycles : 2).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200298 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200298 ms (missed cycles : 2).[0m ×2 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.82sINFOobjective_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 + 3.82sERRORobjective_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: 1787705519.56292129 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787705520.18798399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010863 ms (missed cycles : 2). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010863 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.75sINFOros2_control_node[2026-08-26 00:52:00.491] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-26 00:52:00.491] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673819 ms (missed cycles : 6). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673819 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.95sERRORobjective_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: 1787705541.06391859 seconds ×3 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 5.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.95sERRORobjective_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: 1787705541.06391859 seconds ×3 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 5.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924150 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.95sERRORobjective_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: 1787705541.06391859 seconds ×3 + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 5.29sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.31sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 5.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.16sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 6.17sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[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 8.138170 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[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 + 2.64sERRORobjective_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: 1787705541.06391859 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_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 ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6).[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 8.138170 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[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 + 2.64sERRORobjective_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: 1787705541.06391859 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_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 ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6).[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 8.138170 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.138170 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065043 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735782 ms (missed cycles : 4).[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 + 2.64sERRORobjective_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: 1787705541.06391859 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_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 ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772081 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705541.71463132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705541.81477499 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705542.40898561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705542.43118405 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741453 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705543.15204048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOobjective_server_nodeFound path in 0 iterations (6.07e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-26 00:52:23.285] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220064 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.432859 ms (missed cycles : 6).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.7s | 40 warnings · 617 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/2026-08-26-00-47-26-801310-9a4ddc7bcf9b-8746 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_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. + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690635 ms (missed cycles : 3). + 2.06sINFOros2_control_node-1process started with pid [8794] ×2 + 2.06sINFOmove_group-9process started with pid [8831] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [8832] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [8833] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [8834] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [8835] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [8836] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [8837] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [8838] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [8839] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [8840] ×2 + 2.07sINFOweb_bridge-19process started with pid [8841] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [8896] ×2 + 2.07sINFOvideo_server-21process started with pid [8902] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [8905] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [8906] ×2 + 2.09sINFOros2-2process started with pid [8795] ×2 + 2.09sINFOros2-3process started with pid [8796] ×2 + 2.09sINFOros2-4process started with pid [8797] ×2 + 2.09sINFOros2-5process started with pid [8798] ×2 + 2.09sINFOros2-6process started with pid [8799] ×2 + 2.09sINFOros2-7process started with pid [8800] ×2 + 2.09sINFOros2-8process started with pid [8801] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.13sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.13sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.13sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.13sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.13sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.13sWARNros2_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 + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690635 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.13sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.35sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.48sINFOvideo_server2026/08/26 00:47:30 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.48sINFOvideo_server2026/08/26 00:47:30 INF configuration loaded from /tmp/moveit-webrtc-k5_zxide/mediamtx.yml ×2 + 2.49sINFOvideo_server2026/08/26 00:47:30 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.49sINFOvideo_server2026/08/26 00:47:30 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.81sINFOmove_group[2026-08-26 00:47:30.361] [moveit_pro_license] [info] ×2 + 2.81sINFOmove_group************************************************* ×4 + 2.81sINFOmove_group* MoveIt Pro License ×2 + 2.81sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353709 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353709 ms (missed cycles : 4).[0m ×2 + 3.29sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.36sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.36sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.36sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.36sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.37sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.37sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.40sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.40sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.41sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.41sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.44sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.56sINFOwaypoint_manager_node[2026-08-26 00:47:31.123] [moveit_pro_license] [info] ×2 + 3.56sINFOwaypoint_manager_node************************************************* ×4 + 3.56sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.56sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.61sINFOmove_group ×4 + 3.61sINFOmove_group[92mYou can start planning now![0m ×2 + 3.79sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.82sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.82sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644189 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644189 ms (missed cycles : 2).[0m ×2 + 4.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.86sINFOobjective_server_node[2026-08-26 00:47:32.425] [moveit_pro_license] [info] ×2 + 4.86sINFOobjective_server_node************************************************* ×4 + 4.86sINFOobjective_server_node* MoveIt Pro License ×2 + 4.86sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.98sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.98sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.00sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.00sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.00sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.00sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.00sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.00sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.00sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.00sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.38sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.38sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.43sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.43sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.43sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.43sWARNros2_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 + 5.43sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.43sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.43sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.43sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.43sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.43sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.43sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.43sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.43sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.43sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.43sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.43sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.43sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.43sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.43sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.43sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.43sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.43sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.49sINFOcomponent_container_mt[2026-08-26 00:47:33.050] [moveit_pro_license] [info] ×2 + 5.49sINFOcomponent_container_mt************************************************* ×4 + 5.49sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.49sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.57sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.57sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.58sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.58sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.69sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 5.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 5.71sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.71sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010457 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010457 ms (missed cycles : 2).[0m ×2 + 5.74sINFOros2_control_node[2026-08-26 00:47:33.304] [info] Controller state will be published at 20 Hz. ×2 + 5.74sINFOros2_control_node[2026-08-26 00:47:33.305] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.95sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.06sINFOros2-8process has finished cleanly [pid 8801] ×2 + 6.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 6.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 6.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.16sINFOros2_control_node[2026-08-26 00:47:33.725] [info] Controller state will be published at 10 Hz. ×2 + 6.16sINFOros2_control_node[2026-08-26 00:47:33.726] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.49sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.49sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.49sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.49sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.50sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 6.50sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 6.51sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.51sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.53sINFOros2-7process has finished cleanly [pid 8800] ×2 + 6.54sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.55sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.55sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.55sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.55sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.55sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.55sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.56sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.56sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6).[0m ×2 + 6.87sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.87sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.87sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.87sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 6.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 6.90sINFOros2-3process has finished cleanly [pid 8796] ×2 + 6.93sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.93sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.11sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 7.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.25sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.25sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.25sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 7.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 7.29sINFOros2-4process has finished cleanly [pid 8797] ×2 + 7.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 7.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 7.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.34sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.34sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.34sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.34sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.35sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.65sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.65sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.65sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.67sINFOros2-5process has finished cleanly [pid 8798] ×2 + 7.72sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 7.72sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 7.77sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 7.77sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 7.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.77sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.77sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.80sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.80sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 7.80sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 7.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 8.13sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.13sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.13sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.13sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.13sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 8.13sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 8.16sINFOros2-6process has finished cleanly [pid 8799] ×2 + 8.18sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.18sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.18sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.18sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.19sINFOforce_torque_sensor_broadcasterconfigure successful + 8.19sINFOros2_control_nodeconfigure successful[0m ×2 + 8.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.19sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.20sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.20sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.53sINFOros2-2process has finished cleanly [pid 8795] ×2 + 8.56sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 9.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 9.64sWARNros2_control_nodeCamera render tick took 1.97 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 + 10.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.31sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 10.91sWARNros2_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 + 11.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 310 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2-5process has finished cleanly [pid 8798] ×2 + 0.18sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.18sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.25sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.25sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 0.26sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 0.58sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.58sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.59sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.61sINFOros2-6process has finished cleanly [pid 8799] ×2 + 0.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.64sINFOforce_torque_sensor_broadcasterconfigure successful + 0.64sINFOros2_control_nodeconfigure successful[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.65sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.65sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.99sINFOros2-2process has finished cleanly [pid 8795] ×2 + 1.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 2.09sWARNros2_control_nodeCamera render tick took 1.97 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 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_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 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.84sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 27 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.04sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.08sINFOros2-3process has finished cleanly [pid 8796] ×2 + 0.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.11sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.11sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.29sWARNobjective_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 + 0.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.46sINFOros2-4process has finished cleanly [pid 8797] ×2 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.50sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.51sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.51sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.72sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.84sINFOros2-5process has finished cleanly [pid 8798] ×2 + 0.90sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.90sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.94sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.95sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.95sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.97sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.97sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 0.98sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.30sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.30sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.31sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.33sINFOros2-6process has finished cleanly [pid 8799] ×2 + 1.36sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.36sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.36sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.37sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.71sINFOros2-2process has finished cleanly [pid 8795] ×2 + 1.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 2.81sWARNros2_control_nodeCamera render tick took 1.97 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 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 310 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.11sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.12sINFOros2-5process has finished cleanly [pid 8798] ×2 + 0.18sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.18sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.25sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.25sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 0.26sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 0.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 0.58sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.58sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.59sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.61sINFOros2-6process has finished cleanly [pid 8799] ×2 + 0.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.64sINFOforce_torque_sensor_broadcasterconfigure successful + 0.64sINFOros2_control_nodeconfigure successful[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.65sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.65sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.99sINFOros2-2process has finished cleanly [pid 8795] ×2 + 1.02sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 2.09sWARNros2_control_nodeCamera render tick took 1.97 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 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_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 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.84sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.84sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 425 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-26 00:47:33.725] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-08-26 00:47:33.726] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.44sINFOros2-7process has finished cleanly [pid 8800] ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.82sINFOros2-3process has finished cleanly [pid 8796] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sWARNobjective_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 + 1.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 8797] ×2 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.25sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.25sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.25sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.25sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.57sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.59sINFOros2-5process has finished cleanly [pid 8798] ×2 + 1.64sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.64sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.68sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.68sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.69sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.69sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.71sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.71sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 1.72sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 2.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 2.07sINFOros2-6process has finished cleanly [pid 8799] ×2 + 2.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.10sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.11sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.11sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.45sINFOros2-2process has finished cleanly [pid 8795] ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 3.55sWARNros2_control_nodeCamera render tick took 1.97 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 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 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/2026-08-26-00-47-26-801310-9a4ddc7bcf9b-8746 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_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. + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690635 ms (missed cycles : 3). + 2.06sINFOros2_control_node-1process started with pid [8794] ×2 + 2.06sINFOmove_group-9process started with pid [8831] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [8832] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [8833] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [8834] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [8835] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [8836] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [8837] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [8838] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [8839] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [8840] ×2 + 2.07sINFOweb_bridge-19process started with pid [8841] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [8896] ×2 + 2.07sINFOvideo_server-21process started with pid [8902] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [8905] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [8906] ×2 + 2.09sINFOros2-2process started with pid [8795] ×2 + 2.09sINFOros2-3process started with pid [8796] ×2 + 2.09sINFOros2-4process started with pid [8797] ×2 + 2.09sINFOros2-5process started with pid [8798] ×2 + 2.09sINFOros2-6process started with pid [8799] ×2 + 2.09sINFOros2-7process started with pid [8800] ×2 + 2.09sINFOros2-8process started with pid [8801] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.13sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.13sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.13sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.13sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.13sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.13sWARNros2_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 + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690635 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.13sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.35sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.48sINFOvideo_server2026/08/26 00:47:30 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.48sINFOvideo_server2026/08/26 00:47:30 INF configuration loaded from /tmp/moveit-webrtc-k5_zxide/mediamtx.yml ×2 + 2.49sINFOvideo_server2026/08/26 00:47:30 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.49sINFOvideo_server2026/08/26 00:47:30 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 425 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-26 00:47:33.725] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-08-26 00:47:33.726] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.44sINFOros2-7process has finished cleanly [pid 8800] ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.82sINFOros2-3process has finished cleanly [pid 8796] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sWARNobjective_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 + 1.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 8797] ×2 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.25sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.25sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.25sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.25sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.57sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.59sINFOros2-5process has finished cleanly [pid 8798] ×2 + 1.64sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.64sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.68sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.68sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.69sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.69sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.71sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.71sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 1.72sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 2.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 2.07sINFOros2-6process has finished cleanly [pid 8799] ×2 + 2.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.10sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.11sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.11sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.45sINFOros2-2process has finished cleanly [pid 8795] ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 3.55sWARNros2_control_nodeCamera render tick took 1.97 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 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 425 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-08-26 00:47:33.725] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-08-26 00:47:33.726] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.41sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.41sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.41sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.41sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.42sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.42sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.44sINFOros2-7process has finished cleanly [pid 8800] ×2 + 0.46sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.46sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.46sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.46sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.47sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.78sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.78sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.82sINFOros2-3process has finished cleanly [pid 8796] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sWARNobjective_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 + 1.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.21sINFOros2-4process has finished cleanly [pid 8797] ×2 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.25sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.25sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.25sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.25sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.25sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.25sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.25sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.26sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.57sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.59sINFOros2-5process has finished cleanly [pid 8798] ×2 + 1.64sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.64sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.68sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.68sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.69sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.69sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.71sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.71sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 1.72sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 2.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 2.07sINFOros2-6process has finished cleanly [pid 8799] ×2 + 2.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.10sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.11sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.11sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.45sINFOros2-2process has finished cleanly [pid 8795] ×2 + 2.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 3.55sWARNros2_control_nodeCamera render tick took 1.97 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 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 27 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.339175 ms (missed cycles : 6).[0m ×2 + 0.04sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.04sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.08sINFOros2-3process has finished cleanly [pid 8796] ×2 + 0.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.11sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.11sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.11sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.29sWARNobjective_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 + 0.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.40sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.42sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.42sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.42sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.42sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.46sINFOros2-4process has finished cleanly [pid 8797] ×2 + 0.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.50sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.50sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.50sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.51sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.51sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.52sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.72sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.83sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.84sINFOros2-5process has finished cleanly [pid 8798] ×2 + 0.90sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 0.90sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 0.94sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.95sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.95sINFOros2_control_node[2026-08-26 00:47:35.333] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.97sINFOros2_control_node[2026-08-26 00:47:35.359] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.97sINFOros2_control_node[2026-08-26 00:47:35.359] [info] Controller state will be published at 50 Hz. ×2 + 0.98sINFOros2_control_node[2026-08-26 00:47:35.364] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705255.51608014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705255.52629209 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410519 ms (missed cycles : 3).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.30sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.30sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.31sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 + 1.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ys2ln3f5 --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_dwxcakqg --params-file /tmp/launch_params_3dvqv4e1 [0m ×2 + 1.33sINFOros2-6process has finished cleanly [pid 8799] ×2 + 1.36sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.36sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.36sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.37sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.71sINFOros2-2process has finished cleanly [pid 8795] ×2 + 1.74sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 2.81sWARNros2_control_nodeCamera render tick took 1.97 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 + 3.42sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 6.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_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 + 6.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.54sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.7s | 25 warnings · 245 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 + 7.27sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674036 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.674036 ms (missed cycles : 3).[0m ×2 + 7.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 237 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.01sINFOforce_torque_sensor_broadcasterconfigure successful + 0.01sINFOros2_control_nodeconfigure successful[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOros2-2process has finished cleanly [pid 8795] ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705256.12684965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916643 ms (missed cycles : 2).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705257.18701959 seconds ×3 + 1.46sWARNros2_control_nodeCamera render tick took 1.97 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 + 1.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705257.81100154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705257.87116170 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994426 ms (missed cycles : 5).[0m ×2 + 2.73sWARNros2_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 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705258.57903457 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705258.58915901 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951847 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705259.31258488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705259.46322846 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.632932 ms (missed cycles : 5).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705260.14831758 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705260.20847344 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705260.80837178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_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 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (2.2287e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-26 00:47:40.950] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480789 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.397628 ms (missed cycles : 6).[0m ×2 | ||||