MoveIt Pro Objective Integration Tests

117

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

9.6s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

29 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	166 warnings · 18453 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-26 00:51:23.183] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-26 00:51:23.183] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146947 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146947 ms (missed cycles : 5).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795356 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795356 ms (missed cycles : 2).[0m ×2 + 1.74sWARNros2_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 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760801 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760801 ms (missed cycles : 3).[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901894 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901894 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787705486.78752232 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705487.39870214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.50sINFOros2_control_node[2026-08-26 00:51:27.572] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-26 00:51:27.572] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308237 ms (missed cycles : 4). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308237 ms (missed cycles : 4).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783992 ms (missed cycles : 2).[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 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496654 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496654 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339992 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339992 ms (missed cycles : 2).[0m ×2 + 8.06sINFOjoint_trajectory_controllerReceived new action goal ×3034 + 8.06sINFOjoint_trajectory_controllerAccepted new action goal ×3034 + 8.07sINFOros2_control_nodeReceived new action goal[0m ×6068 + 8.07sINFOros2_control_nodeAccepted new action goal[0m ×6068 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974762 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974762 ms (missed cycles : 2).[0m ×2 + 9.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821489 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821489 ms (missed cycles : 2).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835858 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.835858 ms (missed cycles : 3).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725666 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725666 ms (missed cycles : 2).[0m ×2 + 12.83sINFOjoint_trajectory_controllerGot request to cancel goal ×11 + 12.83sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.84sINFOros2_control_nodeGot request to cancel goal[0m ×22 + 12.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.84sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844873 ms (missed cycles : 5). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844873 ms (missed cycles : 5).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955347 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955347 ms (missed cycles : 2).[0m ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710716 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710716 ms (missed cycles : 2).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932166 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932166 ms (missed cycles : 2).[0m ×2 + 16.18sWARNros2_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 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881835 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881835 ms (missed cycles : 2).[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696888 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696888 ms (missed cycles : 2).[0m ×2 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688122 ms (missed cycles : 2). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688122 ms (missed cycles : 2).[0m ×2 + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156813 ms (missed cycles : 5). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.156813 ms (missed cycles : 5).[0m ×2 + 21.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722697 ms (missed cycles : 2). + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722697 ms (missed cycles : 2).[0m ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306197 ms (missed cycles : 2). + 22.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306197 ms (missed cycles : 2).[0m ×2 + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731013 ms (missed cycles : 2). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731013 ms (missed cycles : 2).[0m ×2 + 23.28sWARNros2_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 + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734093 ms (missed cycles : 2). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734093 ms (missed cycles : 2).[0m ×2 + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885049 ms (missed cycles : 2). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885049 ms (missed cycles : 2).[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857293 ms (missed cycles : 2). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857293 ms (missed cycles : 2).[0m ×2 + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761754 ms (missed cycles : 2). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761754 ms (missed cycles : 2).[0m ×2 + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882485 ms (missed cycles : 2). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882485 ms (missed cycles : 2).[0m ×2 + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203697 ms (missed cycles : 2). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203697 ms (missed cycles : 2).[0m ×2 + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889315 ms (missed cycles : 2). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889315 ms (missed cycles : 2).[0m ×2 + 31.05sWARNros2_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 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812073 ms (missed cycles : 2). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812073 ms (missed cycles : 2).[0m ×2 + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334997 ms (missed cycles : 4). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334997 ms (missed cycles : 4).[0m ×2 + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747337 ms (missed cycles : 2). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747337 ms (missed cycles : 2).[0m ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744841 ms (missed cycles : 2). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744841 ms (missed cycles : 2).[0m ×2 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386748 ms (missed cycles : 2). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386748 ms (missed cycles : 2).[0m ×2 + 36.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291675 ms (missed cycles : 2). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291675 ms (missed cycles : 2).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410142 ms (missed cycles : 4). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410142 ms (missed cycles : 4).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767775 ms (missed cycles : 2). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767775 ms (missed cycles : 2).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960596 ms (missed cycles : 2). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960596 ms (missed cycles : 2).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026992 ms (missed cycles : 2). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026992 ms (missed cycles : 2).[0m ×2 + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364197 ms (missed cycles : 3). + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.364197 ms (missed cycles : 3).[0m ×2 + 42.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044979 ms (missed cycles : 2). + 42.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044979 ms (missed cycles : 2).[0m ×2 + 43.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895142 ms (missed cycles : 2). + 43.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895142 ms (missed cycles : 2).[0m ×2 + 44.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 44.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933010 ms (missed cycles : 2). + 44.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933010 ms (missed cycles : 2).[0m ×2 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956507 ms (missed cycles : 2). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956507 ms (missed cycles : 2).[0m ×2 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768562 ms (missed cycles : 2). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768562 ms (missed cycles : 2).[0m ×2 + 47.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070981 ms (missed cycles : 2). + 47.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070981 ms (missed cycles : 2).[0m ×2 + 48.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705531.20359206 seconds ×3 + 48.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097028 ms (missed cycles : 2). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097028 ms (missed cycles : 2).[0m ×2 + 48.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705531.83352089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.92sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 48.94sINFOros2_control_node[2026-08-26 00:52:12.007] [info] Received new action goal ×2 + 48.94sINFOros2_control_node[2026-08-26 00:52:12.007] [info] Accepted new action goal ×2 + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046520 ms (missed cycles : 2). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046520 ms (missed cycles : 2).[0m ×2 + 49.95sWARNros2_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 + 50.30sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 50.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.729176 ms (missed cycles : 6). + 50.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.729176 ms (missed cycles : 6).[0m ×2
✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.6s	154 warnings · 293 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2).[0m ×2 + 0.38sINFOobjective_server_node[2026-08-26 00:50:29.466] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970142302 [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 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970176196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-26 00:50:30.147] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.203682314 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206809303 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206849424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.19sINFOobjective_server_node[2026-08-26 00:50:30.272] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-26 00:50:30.645610609 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666956152 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666985484 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705432.50980425 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705433.19904399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.21sINFOobjective_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 + 4.22sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Accepted new action goal ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902990 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902990 ms (missed cycles : 2).[0m ×2 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 7.43sINFOros2_control_node[2026-08-26 00:50:36.513] [info] Received new action goal ×2 + 7.43sINFOros2_control_node[2026-08-26 00:50:36.513] [info] Accepted new action goal ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523023 ms (missed cycles : 5). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523023 ms (missed cycles : 5).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205719 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205719 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895192 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895192 ms (missed cycles : 2).[0m ×2 + 9.97sWARNros2_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 + 10.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.56sINFOros2_control_node[2026-08-26 00:50:39.643] [info] Received new action goal ×2 + 10.56sINFOros2_control_node[2026-08-26 00:50:39.643] [info] Accepted new action goal ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194193 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194193 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.372989 ms (missed cycles : 6). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.372989 ms (missed cycles : 6).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431991 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431991 ms (missed cycles : 2).[0m ×2 + 13.53sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 13.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.58sINFOros2_control_node[2026-08-26 00:50:42.667] [info] Received new action goal ×2 + 13.58sINFOros2_control_node[2026-08-26 00:50:42.667] [info] Accepted new action goal ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606013 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606013 ms (missed cycles : 2).[0m ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557557 ms (missed cycles : 2). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557557 ms (missed cycles : 2).[0m ×2 + 16.01sWARNros2_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 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738985 ms (missed cycles : 3). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738985 ms (missed cycles : 3).[0m ×2 + 16.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.55sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.55sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.55sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.55sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419746 ms (missed cycles : 5). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.419746 ms (missed cycles : 5).[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.177974 ms (missed cycles : 7). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.177974 ms (missed cycles : 7).[0m ×2 + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266408 ms (missed cycles : 5). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266408 ms (missed cycles : 5).[0m ×2 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710773 ms (missed cycles : 2). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710773 ms (missed cycles : 2).[0m ×2 + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942135 ms (missed cycles : 5). + 21.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942135 ms (missed cycles : 5).[0m ×2 + 21.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×4 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737862 ms (missed cycles : 2). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737862 ms (missed cycles : 2).[0m ×2 + 23.35sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.35sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.35sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.35sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.35sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686855 ms (missed cycles : 3). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686855 ms (missed cycles : 3).[0m ×2 + 24.23sINFOros2_control_node[2026-08-26 00:50:53.312] [info] Received new action goal ×2 + 24.23sINFOros2_control_node[2026-08-26 00:50:53.312] [info] Accepted new action goal ×2 + 25.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630523 ms (missed cycles : 3). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630523 ms (missed cycles : 3).[0m ×2 + 25.40sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.41sINFOobjective_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 + 25.68sINFOobjective_server_nodeFound path in 0 iterations (6.15e-07 s). ×2 + 25.69sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.74sINFOros2_control_node[2026-08-26 00:50:54.826] [info] Received new action goal ×2 + 25.74sINFOros2_control_node[2026-08-26 00:50:54.826] [info] Accepted new action goal ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031749 ms (missed cycles : 5). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031749 ms (missed cycles : 5).[0m ×2 + 27.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020781 ms (missed cycles : 5). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020781 ms (missed cycles : 5).[0m ×2 + 27.87sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 27.87sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.88sINFOros2_control_node[2026-08-26 00:50:56.964] [info] Received new action goal ×2 + 27.88sINFOros2_control_node[2026-08-26 00:50:56.964] [info] Accepted new action goal ×2 + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390939 ms (missed cycles : 3). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390939 ms (missed cycles : 3).[0m ×2 + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237484 ms (missed cycles : 2). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237484 ms (missed cycles : 2).[0m ×2 + 30.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953638 ms (missed cycles : 2). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953638 ms (missed cycles : 2).[0m ×2 + 30.91sINFOros2_control_node[2026-08-26 00:50:59.993] [info] Received new action goal ×2 + 30.91sINFOros2_control_node[2026-08-26 00:50:59.993] [info] Accepted new action goal ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886890 ms (missed cycles : 5). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886890 ms (missed cycles : 5).[0m ×2 + 32.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904911 ms (missed cycles : 3). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904911 ms (missed cycles : 3).[0m ×2 + 33.50sINFOobjective_server_nodeFound path in 0 iterations (5.17e-07 s). ×2 + 33.51sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.56sINFOros2_control_node[2026-08-26 00:51:02.646] [info] Received new action goal ×2 + 33.56sINFOros2_control_node[2026-08-26 00:51:02.646] [info] Accepted new action goal ×2 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420180 ms (missed cycles : 7). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.420180 ms (missed cycles : 7).[0m ×2 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745271 ms (missed cycles : 5). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745271 ms (missed cycles : 5).[0m ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366258 ms (missed cycles : 3). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366258 ms (missed cycles : 3).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609491 ms (missed cycles : 2). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609491 ms (missed cycles : 2).[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381327 ms (missed cycles : 2). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381327 ms (missed cycles : 2).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768070 ms (missed cycles : 4). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768070 ms (missed cycles : 4).[0m ×2 + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357377 ms (missed cycles : 3).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909482 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909482 ms (missed cycles : 2).[0m ×2 + 42.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027134 ms (missed cycles : 2). + 42.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027134 ms (missed cycles : 2).[0m ×2 + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558948 ms (missed cycles : 2). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558948 ms (missed cycles : 2).[0m ×2 + 44.28sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.30sINFOros2_control_node[2026-08-26 00:51:13.383] [info] Received new action goal ×2 + 44.30sINFOros2_control_node[2026-08-26 00:51:13.383] [info] Accepted new action goal ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607857 ms (missed cycles : 2). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607857 ms (missed cycles : 2).[0m ×2 + 45.46sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787705474.53924727 seconds ×3 + 45.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119816 ms (missed cycles : 3). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119816 ms (missed cycles : 3).[0m ×2 + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703686 ms (missed cycles : 4). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703686 ms (missed cycles : 4).[0m ×2 + 46.82sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787705475.90739584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201894 ms (missed cycles : 2). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201894 ms (missed cycles : 2).[0m ×2 + 47.99sINFOobjective_server_nodeFound path in 0 iterations (7.12e-07 s). ×2 + 48.00sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.01sINFOros2_control_node[2026-08-26 00:51:17.092] [info] Received new action goal ×2 + 48.01sINFOros2_control_node[2026-08-26 00:51:17.092] [info] Accepted new action goal ×2 + 48.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796004 ms (missed cycles : 4). + 48.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796004 ms (missed cycles : 4).[0m ×2
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	28.9s	111 warnings · 2745 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×422 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×422 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×844 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×844 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686457 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686457 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824539 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824539 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642720 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642720 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_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 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751163 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751163 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.01sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705553.33272791 seconds ×3 + 4.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 4.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805752 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805752 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787705553.96937370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 5 iterations (0.00759615 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.91sINFOros2_control_node[2026-08-26 00:52:34.236] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-26 00:52:34.236] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845041 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845041 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689772 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689772 ms (missed cycles : 4).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234889 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234889 ms (missed cycles : 2).[0m ×2 + 8.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549113 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549113 ms (missed cycles : 3).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013317 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013317 ms (missed cycles : 2).[0m ×2 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134759 ms (missed cycles : 5). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134759 ms (missed cycles : 5).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555173 ms (missed cycles : 6). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.555173 ms (missed cycles : 6).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.721141 ms (missed cycles : 9). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.721141 ms (missed cycles : 9).[0m ×2 + 13.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 14.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388196 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388196 ms (missed cycles : 2).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052241 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052241 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244289 ms (missed cycles : 2). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244289 ms (missed cycles : 2).[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662866 ms (missed cycles : 6). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662866 ms (missed cycles : 6).[0m ×2 + 18.09sINFOobjective_server_nodeFound path in 4 iterations (0.00306206 s). ×2 + 18.17sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.20sINFOobjective_server_nodeFound path in 12 iterations (0.00529503 s). ×2 + 18.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.30sINFOobjective_server_nodeFound path in 2 iterations (0.00377179 s). ×2 + 18.35sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 18.37sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 18.41sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.43sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 18.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.48sINFOobjective_server_nodeFound path in 12 iterations (0.00526687 s). ×2 + 18.55sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 18.58sINFOobjective_server_nodeFound path in 1 iterations (0.00446926 s). ×2 + 18.59sWARNros2_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 + 18.63sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 18.65sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 18.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.72sINFOobjective_server_nodeFound path in 4 iterations (0.00514555 s). ×2 + 18.82sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.86sINFOobjective_server_nodeFound path in 41 iterations (0.0160665 s). ×2 + 18.93sINFOobjective_server_nodePath shortcutter: [X________________________________X_X________________________________________X] ×2 + 18.97sINFOobjective_server_nodeFound path in 1 iterations (0.00536706 s). ×2 + 19.03sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.06sINFOobjective_server_nodeFound path in 1 iterations (0.00465389 s). ×2 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746125 ms (missed cycles : 2). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746125 ms (missed cycles : 2).[0m ×2 + 19.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 19.19sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 19.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.26sINFOobjective_server_nodeFound path in 0 iterations (2.08e-07 s). ×2 + 19.36sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 19.38sINFOobjective_server_nodeFound path in 0 iterations (5.75e-07 s). ×2 + 19.49sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 19.53sINFOobjective_server_nodeFound path in 0 iterations (5.65e-07 s). ×2 + 19.67sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 19.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.91sINFOros2_control_node[2026-08-26 00:52:49.227] [info] Received new action goal ×2 + 19.91sINFOros2_control_node[2026-08-26 00:52:49.228] [info] Accepted new action goal ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513286 ms (missed cycles : 3). + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513286 ms (missed cycles : 3).[0m ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.396891 ms (missed cycles : 6). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.396891 ms (missed cycles : 6).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059525 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059525 ms (missed cycles : 2).[0m ×2 + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931041 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931041 ms (missed cycles : 2).[0m ×2 + 24.62sWARNros2_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 + 24.91sINFOros2_control_node[2026-08-26 00:52:54.230] [info] Received new action goal ×2 + 24.91sINFOros2_control_node[2026-08-26 00:52:54.230] [info] Accepted new action goal ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965738 ms (missed cycles : 2). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965738 ms (missed cycles : 2).[0m ×2 + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.497657 ms (missed cycles : 6). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.497657 ms (missed cycles : 6).[0m ×2 + 26.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.45sINFOros2_control_node[2026-08-26 00:52:55.773] [info] Received new action goal ×2 + 26.45sINFOros2_control_node[2026-08-26 00:52:55.773] [info] Accepted new action goal ×2 + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769778 ms (missed cycles : 2). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769778 ms (missed cycles : 2).[0m ×2 + 27.67sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.71sINFOros2_control_node[2026-08-26 00:52:57.034] [info] Received new action goal ×2 + 27.71sINFOros2_control_node[2026-08-26 00:52:57.034] [info] Accepted new action goal ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655518 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655518 ms (missed cycles : 2).[0m ×2 + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246837 ms (missed cycles : 5). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246837 ms (missed cycles : 5).[0m ×2 + 31.38sWARNros2_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 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315413 ms (missed cycles : 4). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315413 ms (missed cycles : 4).[0m ×2 + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442324 ms (missed cycles : 5). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442324 ms (missed cycles : 5).[0m ×2 + 32.91sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787705582.22958302 seconds ×3 + 32.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787705582.90524220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.790634 ms (missed cycles : 7). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.790634 ms (missed cycles : 7).[0m ×2 + 33.79sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 33.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.81sINFOros2_control_node[2026-08-26 00:53:03.129] [info] Received new action goal ×2 + 33.81sINFOros2_control_node[2026-08-26 00:53:03.129] [info] Accepted new action goal ×2 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942528 ms (missed cycles : 2). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942528 ms (missed cycles : 2).[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523083 ms (missed cycles : 4). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523083 ms (missed cycles : 4).[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	94 warnings · 13828 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2278 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2278 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4556 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4556 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933010 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933010 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956507 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956507 ms (missed cycles : 2).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768562 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768562 ms (missed cycles : 2).[0m ×2 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070981 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070981 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705531.20359206 seconds ×3 + 4.01sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 4.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 4.01sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 4.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×7 + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097028 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097028 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705531.83352089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (4.84e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.81sINFOros2_control_node[2026-08-26 00:52:12.007] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-26 00:52:12.007] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046520 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046520 ms (missed cycles : 2).[0m ×2 + 5.82sWARNros2_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 + 6.06sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.12sINFOobjective_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 + 6.13sINFOobjective_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 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.729176 ms (missed cycles : 6). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.729176 ms (missed cycles : 6).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664921 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664921 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788247 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788247 ms (missed cycles : 2).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139738 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139738 ms (missed cycles : 2).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879548 ms (missed cycles : 5). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.879548 ms (missed cycles : 5).[0m ×2 + 11.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472999 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472999 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308990 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308990 ms (missed cycles : 2).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558516 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558516 ms (missed cycles : 2).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673713 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673713 ms (missed cycles : 3).[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860593 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860593 ms (missed cycles : 2).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745558 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745558 ms (missed cycles : 2).[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624053 ms (missed cycles : 3). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624053 ms (missed cycles : 3).[0m ×2 + 18.09sWARNros2_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 ×4 + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182570 ms (missed cycles : 2). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182570 ms (missed cycles : 2).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788310 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788310 ms (missed cycles : 2).[0m ×2 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492478 ms (missed cycles : 2). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492478 ms (missed cycles : 2).[0m ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686457 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686457 ms (missed cycles : 2).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824539 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824539 ms (missed cycles : 2).[0m ×2 + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642720 ms (missed cycles : 2). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642720 ms (missed cycles : 2).[0m ×2 + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751163 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751163 ms (missed cycles : 2).[0m ×2 + 26.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705553.33272791 seconds ×3 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805752 ms (missed cycles : 4). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805752 ms (missed cycles : 4).[0m ×2 + 26.78sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787705553.96937370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.96sINFOobjective_server_nodeFound path in 5 iterations (0.00759615 s). ×2 + 27.02sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 27.04sINFOros2_control_node[2026-08-26 00:52:34.236] [info] Received new action goal ×2 + 27.04sINFOros2_control_node[2026-08-26 00:52:34.236] [info] Accepted new action goal ×2 + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845041 ms (missed cycles : 2). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845041 ms (missed cycles : 2).[0m ×2 + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689772 ms (missed cycles : 4). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689772 ms (missed cycles : 4).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	12.5s	3 errors · 63 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1787705361.61398506 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705362.26770973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705362.37783194 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705363.00849223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005114 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005114 ms (missed cycles : 4).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.337418 ms (missed cycles : 6). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.337418 ms (missed cycles : 6).[0m ×2 + 8.56sWARNros2_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 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264909 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264909 ms (missed cycles : 2).[0m ×2 + 9.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.86sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.86sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 10.15sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 10.19sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 10.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 10.25sINFOobjective_server_nodeFound path in 1 iterations (0.00349974 s). ×2 + 10.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 10.43sINFOros2_control_node[2026-08-26 00:49:29.089] [info] Received new action goal ×2 + 10.43sINFOros2_control_node[2026-08-26 00:49:29.089] [info] Accepted new action goal ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410136 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410136 ms (missed cycles : 3).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887818 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887818 ms (missed cycles : 2).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829384 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829384 ms (missed cycles : 2).[0m ×2 + 12.91sINFOros2_control_node[2026-08-26 00:49:31.563] [info] Received new action goal ×2 + 12.91sINFOros2_control_node[2026-08-26 00:49:31.563] [info] Accepted new action goal ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4).[0m ×2 + 14.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.82sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Received new action goal ×2 + 14.82sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Accepted new action goal ×2 + 15.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2).[0m ×2 + 16.20sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705374.86036062 seconds ×3 + 16.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705375.48409176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705375.56421971 seconds ×3 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2).[0m ×2 + 17.55sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705376.20352840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.67sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 17.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 17.69sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Received new action goal ×2 + 17.69sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Accepted new action goal ×2 + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3).[0m ×2 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2).[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	12.4s	3 errors · 62 warnings · 181 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149230 ms (missed cycles : 5). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149230 ms (missed cycles : 5).[0m ×2 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.77sINFOobjective_server_nodeFound path in 1 iterations (0.00332132 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.97sINFOros2_control_node[2026-08-26 00:50:05.844] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-08-26 00:50:05.844] [info] Accepted new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:50:06.276] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:50:06.276] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949742 ms (missed cycles : 5). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949742 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482056 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482056 ms (missed cycles : 2).[0m ×2 + 2.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858721 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858721 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.72sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.72sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.72sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.75sERRORobjective_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: 1787705408.62131381 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.55sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787705409.42952132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291263 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291263 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.74sINFOros2_control_node[2026-08-26 00:50:09.617] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-26 00:50:09.617] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623705 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623705 ms (missed cycles : 3).[0m ×2 + 5.97sWARNros2_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 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156195 ms (missed cycles : 5). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156195 ms (missed cycles : 5).[0m ×2 + 7.56sINFOros2_control_node[2026-08-26 00:50:12.430] [info] Received new action goal ×2 + 7.56sINFOros2_control_node[2026-08-26 00:50:12.430] [info] Accepted new action goal ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399805 ms (missed cycles : 3). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399805 ms (missed cycles : 3).[0m ×2 + 8.49sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790029 ms (missed cycles : 3). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790029 ms (missed cycles : 3).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008928 ms (missed cycles : 2). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008928 ms (missed cycles : 2).[0m ×2 + 11.04sWARNros2_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 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773659 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773659 ms (missed cycles : 2).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641600 ms (missed cycles : 5). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641600 ms (missed cycles : 5).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458348 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458348 ms (missed cycles : 2).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793548 ms (missed cycles : 6). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793548 ms (missed cycles : 6).[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074589 ms (missed cycles : 5). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074589 ms (missed cycles : 5).[0m ×2 + 16.11sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787705420.98830390 seconds ×3 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3).[0m ×2 + 16.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705421.64999413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.83sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705421.71013236 seconds ×3 + 17.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705422.31230950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.54sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 17.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.55sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Received new action goal ×2 + 17.55sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Accepted new action goal ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6).[0m ×2
✓ passed	Push Button	move_with_velocity_and_force.xml	11.6s	57 warnings · 184 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027134 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027134 ms (missed cycles : 2).[0m ×2 + 1.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.01sINFOros2_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 2.558948 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558948 ms (missed cycles : 2).[0m ×2 + 1.65sWARNros2_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 + 1.86sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.88sINFOros2_control_node[2026-08-26 00:51:13.383] [info] Received new action goal ×2 + 1.88sINFOros2_control_node[2026-08-26 00:51:13.383] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607857 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607857 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787705474.53924727 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119816 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119816 ms (missed cycles : 3).[0m ×2 + 3.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703686 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703686 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787705475.90739584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201894 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201894 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (7.12e-07 s). ×2 + 5.58sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.59sINFOros2_control_node[2026-08-26 00:51:17.092] [info] Received new action goal ×2 + 5.59sINFOros2_control_node[2026-08-26 00:51:17.092] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796004 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796004 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705536 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705536 ms (missed cycles : 2).[0m ×2 + 7.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061800 ms (missed cycles : 5). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.061800 ms (missed cycles : 5).[0m ×2 + 9.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.29sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.29sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491818 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491818 ms (missed cycles : 2).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753832 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753832 ms (missed cycles : 2).[0m ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 11.67sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.68sINFOros2_control_node[2026-08-26 00:51:23.183] [info] Received new action goal ×2 + 11.68sINFOros2_control_node[2026-08-26 00:51:23.183] [info] Accepted new action goal ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146947 ms (missed cycles : 5). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146947 ms (missed cycles : 5).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795356 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795356 ms (missed cycles : 2).[0m ×2 + 13.31sWARNros2_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 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760801 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760801 ms (missed cycles : 3).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901894 ms (missed cycles : 5). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901894 ms (missed cycles : 5).[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787705486.78752232 seconds ×3 + 15.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705487.39870214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.06sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 16.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.07sINFOros2_control_node[2026-08-26 00:51:27.572] [info] Received new action goal ×2 + 16.07sINFOros2_control_node[2026-08-26 00:51:27.572] [info] Accepted new action goal ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308237 ms (missed cycles : 4). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308237 ms (missed cycles : 4).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783992 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783992 ms (missed cycles : 2).[0m ×2 + 17.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.34sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.2s	61 errors · 42 warnings · 317 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3).[0m ×2 + 0.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Got request to cancel active goal. ×2 + 0.45sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Canceling active goal... ×2 + 0.46sERRORobjective_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: 1787705638.11104822 seconds ×3 + 0.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705638.71473575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6).[0m ×2 + 2.32sWARNros2_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 + 2.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705640.33487034 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705640.96216512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.31sINFOobjective_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 + 3.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705640.96486306 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705641.66276670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705641.66322160 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973042 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973042 ms (missed cycles : 5).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705642.26195526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040640 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040640 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705643.40209627 seconds ×3 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443878 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443878 ms (missed cycles : 4).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887059 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887059 ms (missed cycles : 3).[0m ×2 + 8.49sWARNros2_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 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115713 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115713 ms (missed cycles : 2).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986494 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986494 ms (missed cycles : 2).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033186 ms (missed cycles : 4). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033186 ms (missed cycles : 4).[0m ×2 + 11.22sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.27sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORweb_video_auth_proxy-23process has died [pid 8925, 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 + 11.27sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.29sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.30sERRORweb_bridge_auth_proxy-22process has died [pid 8924, 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 + 11.30sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.31sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.32sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.33sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.35sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.36sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.38sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.39sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.40sINFOvideo_server-21process has finished cleanly [pid 8923] ×2 + 11.41sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.42sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.44sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.45sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.47sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.47sINFOcontroller_managerShutdown request received.... + 11.47sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.47sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.47sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.47sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.47sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.47sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.47sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.47sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.47sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.47sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.47sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.47sINFOcontroller_managerShutting down the controller manager. + 11.47sINFOvideo_server2026/08/26 00:54:08 INF shutting down gracefully ×2 + 11.47sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.47sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.47sINFOvideo_server2026/08/26 00:54:08 INF [WebRTC] closing ×2 + 11.47sINFOvideo_server2026/08/26 00:54:08 INF [RTSP] closing ×2 + 11.47sINFOvideo_server2026/08/26 00:54:08 INF waiting for running hooks ×2 + 11.47sERRORmove_group-9process has died [pid 8848, 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_3la0qcjw --params-file /tmp/launch_params_g8v1sne5 --params-file /tmp/launch_params_b3ul6w86 --params-file /tmp/launch_params__o6icnn2 --params-file /tmp/launch_params_sdw597bq --params-file /tmp/launch_params_8k7jzozr']. ×2 + 11.47sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.48sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.48sERRORmove_groupStack trace (most recent call last) in thread 9153: ×2 + 11.48sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.48sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.48sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa88394fb63, in __clone ×2 + 11.48sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa8838c2b83, in ×2 + 11.48sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa883b54db3, in ×2 + 11.48sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fa8842c5637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.48sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa883ee6620, in rclcpp::Rate::sleep() ×2 + 11.48sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa883e28d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.48sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa883dea087, in ×2 + 11.48sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa883b23390, in __cxa_throw ×2 + 11.48sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa883b0da54, in std::terminate() ×2 + 11.48sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa883b230d9, in ×2 + 11.48sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa883b0dff4, in ×2 + 11.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa88384e8fe, in abort ×2 + 11.48sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa88386b27d, in raise ×2 + 11.48sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa8838c4c0c, in pthread_kill ×2 + 11.48sERRORmove_groupAborted (Signal sent by tkill() 8848 0) ×2 + 11.48sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.48sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.48sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.48sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.48sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.48sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.48sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.48sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.48sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.48sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.48sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.48sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.48sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.48sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.48sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.48sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.48sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.48sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.48sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.48sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.48sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.68sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.68sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.35sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8922] ×2 + 12.35sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.44sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8852] ×2 + 12.44sINFOui_teleop_bridge-18process has finished cleanly [pid 8857] ×2 + 12.44sINFOexecute_objective_bridge-17process has finished cleanly [pid 8856] ×2 + 12.45sINFOcomponent_container_mt-16process has finished cleanly [pid 8855] ×2 + 12.45sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8851] ×2 + 12.49sINFOwaypoint_manager_node-11process has finished cleanly [pid 8850] ×2 + 12.52sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.54sINFOparameter_manager_node-10process has finished cleanly [pid 8849] ×2 + 12.57sINFOobjective_server_node[0;m[2026-08-26 00:54:10.226] [moveit_pro_license] [critical] ×2 + 12.57sINFOobjective_server_node************************************************* ×4 + 12.57sINFOobjective_server_node* MoveIt Pro License ×2 + 12.57sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 13.10sINFOobjective_server_node_main-14process has finished cleanly [pid 8853] ×2 + 13.10sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.38sINFOweb_bridge-19process has finished cleanly [pid 8858] ×2 + 13.38sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.56sINFOcomponent_container_mt-15process has finished cleanly [pid 8854] ×2 + 14.11sINFOros2_control_node-1process has finished cleanly [pid 8811] ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	11.2s	6 errors · 63 warnings · 227 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.42sERRORobjective_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: 1787705625.60707831 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×11 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×22 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×6 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×6 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×12 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 4.96sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.480269 ms (missed cycles : 6). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.480269 ms (missed cycles : 6).[0m ×2 + 7.90sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.90sINFOros2_control_node[2026-08-26 00:53:51.090] [info] Received new action goal ×2 + 7.90sINFOros2_control_node[2026-08-26 00:53:51.090] [info] Accepted new action goal ×2 + 7.90sINFOros2_control_node[2026-08-26 00:53:51.090] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418403 ms (missed cycles : 5). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.418403 ms (missed cycles : 5).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.803760 ms (missed cycles : 8). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.803760 ms (missed cycles : 8).[0m ×2 + 10.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711650 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711650 ms (missed cycles : 2).[0m ×2 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475630 ms (missed cycles : 4). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475630 ms (missed cycles : 4).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831076 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831076 ms (missed cycles : 3).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409163 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409163 ms (missed cycles : 2).[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3).[0m ×2 + 14.92sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Got request to cancel active goal. ×2 + 14.92sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Canceling active goal... ×2 + 14.92sERRORobjective_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: 1787705638.11104822 seconds ×3 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3).[0m ×2 + 15.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705638.71473575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6).[0m ×2 + 16.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 17.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705640.33487034 seconds ×3 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4).[0m ×2 + 17.77sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705640.96216512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.77sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.77sINFOobjective_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 + 17.77sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.77sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705640.96486306 seconds ×3
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	11.1s	3 errors · 54 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2).[0m ×2 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4).[0m ×2 + 1.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Accepted new action goal ×2 + 1.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705374.86036062 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705375.48409176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705375.56421971 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705376.20352840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536738 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.536738 ms (missed cycles : 3).[0m ×2 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.40sINFOros2_control_node[2026-08-26 00:49:39.707] [info] Received new action goal ×2 + 7.40sINFOros2_control_node[2026-08-26 00:49:39.708] [info] Accepted new action goal ×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 ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013834 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013834 ms (missed cycles : 2).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135760 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135760 ms (missed cycles : 2).[0m ×2 + 9.73sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 9.74sINFOros2_control_node[2026-08-26 00:49:42.049] [info] Received new action goal ×2 + 9.74sINFOros2_control_node[2026-08-26 00:49:42.049] [info] Accepted new action goal ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924230 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924230 ms (missed cycles : 3).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 12.08sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 12.09sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 12.09sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 13.73sWARNros2_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 + 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 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 14.42sERRORobjective_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: 1787705386.72858405 seconds ×3 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 15.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.27sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 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 4.586467 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586467 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542078 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542078 ms (missed cycles : 4).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809781 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809781 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787705614.61664033 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265739 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265739 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787705615.22679996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-08-26 00:53:35.361] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-08-26 00:53:35.361] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539164 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539164 ms (missed cycles : 5).[0m ×2 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238413 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238413 ms (missed cycles : 3).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421465 ms (missed cycles : 4). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421465 ms (missed cycles : 4).[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008194 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008194 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286212 ms (missed cycles : 4). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286212 ms (missed cycles : 4).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813433 ms (missed cycles : 4). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813433 ms (missed cycles : 4).[0m ×2 + 10.74sWARNros2_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 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 14.24sINFOobjective_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 + 14.25sERRORobjective_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: 1787705625.60707831 seconds ×3 + 14.90sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 14.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 15.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.59sINFOobjective_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 + 15.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 16.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.42sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 16.42sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.42sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 16.42sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 16.80sWARNros2_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 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	6 errors · 57 warnings · 107 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708220 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708220 ms (missed cycles : 2).[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916489 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916489 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830693 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830693 ms (missed cycles : 2).[0m ×2 + 9.27sWARNros2_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 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910687 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910687 ms (missed cycles : 2).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846645 ms (missed cycles : 3). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846645 ms (missed cycles : 3).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280546 ms (missed cycles : 6). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280546 ms (missed cycles : 6).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185449 ms (missed cycles : 5). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185449 ms (missed cycles : 5).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741943 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741943 ms (missed cycles : 3).[0m ×2 + 14.28sERRORobjective_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: 1787705604.09849644 seconds ×3 + 14.91sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787705604.72235727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809417 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809417 ms (missed cycles : 2).[0m ×2 + 15.16sWARNros2_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 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.19sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.20sINFOros2_control_node[2026-08-26 00:53:25.013] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-08-26 00:53:25.013] [info] Accepted new action goal ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953109 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953109 ms (missed cycles : 2).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130658 ms (missed cycles : 4). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130658 ms (missed cycles : 4).[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	10.9s	9 errors · 60 warnings · 168 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393455 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393455 ms (missed cycles : 4).[0m ×2 + 0.09sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.36sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.36sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787705394.76496911 seconds ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008739 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008739 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799292 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799292 ms (missed cycles : 3).[0m ×2 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872689 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872689 ms (missed cycles : 3).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787705398.31717801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sINFOros2_control_node[2026-08-26 00:49:58.531] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-26 00:49:58.531] [info] Accepted new action goal ×2 + 4.42sWARNros2_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 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656809 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656809 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290572 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290572 ms (missed cycles : 5).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970443 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970443 ms (missed cycles : 3).[0m ×2 + 7.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.49sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848773 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848773 ms (missed cycles : 2).[0m ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.89sINFOobjective_server_nodeFound path in 1 iterations (0.0028129 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 1 iterations (0.00462776 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.49sINFOros2_control_node[2026-08-26 00:50:02.864] [info] Received new action goal ×2 + 8.49sINFOros2_control_node[2026-08-26 00:50:02.864] [info] Accepted new action goal ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691445 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691445 ms (missed cycles : 2).[0m ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.287851 ms (missed cycles : 8). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.287851 ms (missed cycles : 8).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149230 ms (missed cycles : 5). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149230 ms (missed cycles : 5).[0m ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 11.17sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.18sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 11.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.27sINFOobjective_server_nodeFound path in 1 iterations (0.00332132 s). ×2 + 11.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.47sINFOros2_control_node[2026-08-26 00:50:05.844] [info] Received new action goal ×2 + 11.47sINFOros2_control_node[2026-08-26 00:50:05.844] [info] Accepted new action goal ×2 + 11.90sINFOros2_control_node[2026-08-26 00:50:06.276] [info] Received new action goal ×2 + 11.90sINFOros2_control_node[2026-08-26 00:50:06.276] [info] Accepted new action goal ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949742 ms (missed cycles : 5). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949742 ms (missed cycles : 5).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482056 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482056 ms (missed cycles : 2).[0m ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858721 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858721 ms (missed cycles : 2).[0m ×2 + 14.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.22sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.22sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.24sERRORobjective_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: 1787705408.62131381 seconds ×3 + 15.05sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787705409.42952132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291263 ms (missed cycles : 5). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291263 ms (missed cycles : 5).[0m ×2 + 15.22sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 15.24sINFOros2_control_node[2026-08-26 00:50:09.617] [info] Received new action goal ×2 + 15.24sINFOros2_control_node[2026-08-26 00:50:09.617] [info] Accepted new action goal ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623705 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623705 ms (missed cycles : 3).[0m ×2 + 16.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156195 ms (missed cycles : 5). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156195 ms (missed cycles : 5).[0m ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	9 errors · 57 warnings · 153 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163992 ms (missed cycles : 6). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163992 ms (missed cycles : 6).[0m ×2 + 7.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694792 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694792 ms (missed cycles : 2).[0m ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 1 iterations (0.00279217 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.05sINFOobjective_server_nodeFound path in 1 iterations (0.0072846 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (1.101e-06 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.53sINFOros2_control_node[2026-08-26 00:49:52.049] [info] Received new action goal ×2 + 8.53sINFOros2_control_node[2026-08-26 00:49:52.049] [info] Accepted new action goal ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053388 ms (missed cycles : 4). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053388 ms (missed cycles : 4).[0m ×2 + 9.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.740019 ms (missed cycles : 5). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.740019 ms (missed cycles : 5).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393455 ms (missed cycles : 4). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393455 ms (missed cycles : 4).[0m ×2 + 10.94sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.22sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787705394.76496911 seconds ×3 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008739 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008739 ms (missed cycles : 2).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799292 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799292 ms (missed cycles : 3).[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872689 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872689 ms (missed cycles : 3).[0m ×2 + 14.79sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787705398.31717801 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 15.01sINFOros2_control_node[2026-08-26 00:49:58.531] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-08-26 00:49:58.531] [info] Accepted new action goal ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656809 ms (missed cycles : 3). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656809 ms (missed cycles : 3).[0m ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290572 ms (missed cycles : 5). + 16.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290572 ms (missed cycles : 5).[0m ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	10.9s	3 errors · 54 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246837 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246837 ms (missed cycles : 5).[0m ×2 + 2.17sWARNros2_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 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315413 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315413 ms (missed cycles : 4).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442324 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442324 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787705582.22958302 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.74sINFOros2_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 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787705582.90524220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.790634 ms (missed cycles : 7). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.790634 ms (missed cycles : 7).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-08-26 00:53:03.129] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-26 00:53:03.129] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942528 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942528 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523083 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523083 ms (missed cycles : 4).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869620 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869620 ms (missed cycles : 3).[0m ×2 + 8.47sWARNros2_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 + 8.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.87sINFOobjective_server_nodeFound path in 1 iterations (0.00323359 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.01sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.04sINFOros2_control_node[2026-08-26 00:53:07.572] [info] Received new action goal ×2 + 9.04sINFOros2_control_node[2026-08-26 00:53:07.572] [info] Accepted new action goal ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448231 ms (missed cycles : 6). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448231 ms (missed cycles : 6).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062489 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062489 ms (missed cycles : 2).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 11.51sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 11.51sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 13.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.43sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 13.43sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 14.53sWARNros2_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 + 14.57sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 14.57sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 14.59sERRORobjective_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: 1787705593.12079191 seconds ×3 + 14.84sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.25sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.43sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 15.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.44sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 15.44sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 17.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	10.9s	3 errors · 56 warnings · 332 info
+ 0.00sWARNros2_control_nodeCamera render tick took 1.96 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 + 0.18sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 0.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.22sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 1.27sWARNros2_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 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.89sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.41sINFOros2_control_node[2026-08-26 00:49:14.031] [info] Received new action goal ×2 + 6.41sINFOros2_control_node[2026-08-26 00:49:14.031] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952891 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952891 ms (missed cycles : 2).[0m ×2 + 7.38sWARNros2_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 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938544 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938544 ms (missed cycles : 3).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812932 ms (missed cycles : 5). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.812932 ms (missed cycles : 5).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121751 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121751 ms (missed cycles : 2).[0m ×2 + 10.13sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 10.15sINFOros2_control_node[2026-08-26 00:49:17.772] [info] Received new action goal ×2 + 10.15sINFOros2_control_node[2026-08-26 00:49:17.772] [info] Accepted new action goal ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3).[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4).[0m ×2 + 13.42sWARNros2_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 + 13.46sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 13.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.48sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Received new action goal ×2 + 13.48sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Accepted new action goal ×2 + 13.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Got request to cancel active goal. ×2 + 13.97sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Canceling active goal... ×2 + 13.99sERRORobjective_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: 1787705361.61398506 seconds ×3 + 14.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5). + 14.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5).[0m ×2 + 14.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705362.26770973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705362.37783194 seconds ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2).[0m ×2 + 15.38sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705363.00849223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.57sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 15.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.58sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Received new action goal ×2 + 15.58sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Accepted new action goal ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3).[0m ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.5s	3 errors · 54 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846645 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846645 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280546 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280546 ms (missed cycles : 6).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185449 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185449 ms (missed cycles : 5).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741943 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741943 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sERRORobjective_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: 1787705604.09849644 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.09sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787705604.72235727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809417 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809417 ms (missed cycles : 2).[0m ×2 + 4.34sWARNros2_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 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.38sINFOros2_control_node[2026-08-26 00:53:25.013] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-08-26 00:53:25.013] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953109 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953109 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130658 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130658 ms (missed cycles : 4).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074677 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074677 ms (missed cycles : 3).[0m ×2 + 8.40sINFOros2_control_node[2026-08-26 00:53:29.031] [info] Received new action goal ×2 + 8.40sINFOros2_control_node[2026-08-26 00:53:29.031] [info] Accepted new action goal ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361691 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361691 ms (missed cycles : 2).[0m ×2 + 9.34sWARNros2_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 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533331 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533331 ms (missed cycles : 2).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586467 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586467 ms (missed cycles : 3).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542078 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542078 ms (missed cycles : 4).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809781 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809781 ms (missed cycles : 2).[0m ×2 + 13.98sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787705614.61664033 seconds ×3 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265739 ms (missed cycles : 5). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265739 ms (missed cycles : 5).[0m ×2 + 14.59sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787705615.22679996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 14.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.73sINFOros2_control_node[2026-08-26 00:53:35.361] [info] Received new action goal ×2 + 14.73sINFOros2_control_node[2026-08-26 00:53:35.361] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539164 ms (missed cycles : 5). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539164 ms (missed cycles : 5).[0m ×2 + 15.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238413 ms (missed cycles : 3). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238413 ms (missed cycles : 3).[0m ×2 + 16.63sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	7.1s	45 warnings · 179 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705421.64999413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705421.71013236 seconds ×3 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705422.31230950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.87sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787705424.43243980 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662861 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662861 ms (missed cycles : 6).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353537 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353537 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787705426.03060269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076457 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076457 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_server_node[2026-08-26 00:50:27.634] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677540 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677540 ms (missed cycles : 2).[0m ×2 + 6.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.89sINFOobjective_server_node[0;93m2026-08-26 00:50:28.448065543 [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 + 6.89sINFOobjective_server_node[0;93m2026-08-26 00:50:28.448098026 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2).[0m ×2 + 7.91sINFOobjective_server_node[2026-08-26 00:50:29.466] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.41sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970142302 [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 + 8.42sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970176196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5).[0m ×2 + 8.59sINFOobjective_server_node[2026-08-26 00:50:30.147] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.65sINFOobjective_server_node[0;93m2026-08-26 00:50:30.203682314 [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 + 8.65sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206809303 [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 + 8.65sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206849424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.72sINFOobjective_server_node[2026-08-26 00:50:30.272] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.09sINFOobjective_server_node[0;93m2026-08-26 00:50:30.645610609 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.11sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666956152 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.11sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666985484 [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 7.230021 ms (missed cycles : 5). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2).[0m ×2 + 10.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705432.50980425 seconds ×3 + 11.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705433.19904399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.73sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 11.74sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2).[0m ×2 + 12.03sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 12.03sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.07sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Received new action goal ×2 + 12.07sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Accepted new action goal ×2 + 12.45sWARNros2_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 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2).[0m ×2
✓ passed	Look at Table	look_at_table.xml	3.7s	34 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458348 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458348 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793548 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793548 ms (missed cycles : 6).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074589 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074589 ms (missed cycles : 5).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787705420.98830390 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 2.70sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705421.64999413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.31sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705421.71013236 seconds ×3 + 3.61sWARNros2_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 + 3.94sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705422.31230950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6).[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787705424.43243980 seconds ×3 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662861 ms (missed cycles : 6). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662861 ms (missed cycles : 6).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353537 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353537 ms (missed cycles : 3).[0m ×2 + 7.66sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787705426.03060269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076457 ms (missed cycles : 6). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076457 ms (missed cycles : 6).[0m ×2 + 9.26sINFOobjective_server_node[2026-08-26 00:50:27.634] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677540 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677540 ms (missed cycles : 2).[0m ×2 + 9.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 10.08sINFOobjective_server_node[0;93m2026-08-26 00:50:28.448065543 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.08sINFOobjective_server_node[0;93m2026-08-26 00:50:28.448098026 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	2.2s	3 errors · 32 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475630 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475630 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831076 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831076 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409163 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409163 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Canceling active goal... ×2 + 3.63sERRORobjective_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: 1787705638.11104822 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705638.71473575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6).[0m ×2 + 5.49sWARNros2_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 + 5.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705640.33487034 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705640.96216512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.48sINFOobjective_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 + 6.48sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.48sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705640.96486306 seconds ×3 + 7.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705641.66276670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705641.66322160 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973042 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973042 ms (missed cycles : 5).[0m ×2 + 7.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705642.26195526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040640 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040640 ms (missed cycles : 4).[0m ×2
✓ passed	Close Gripper	close_gripper.xml	1.6s	37 warnings · 563 info
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.33sINFOobjective_server_node[2026-08-26 00:49:02.975] [moveit_pro_license] [info] ×2 + 0.33sINFOobjective_server_node************************************************* ×4 + 0.33sINFOobjective_server_node* MoveIt Pro License ×2 + 0.33sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.44sINFOobjective_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 + 0.44sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.45sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.45sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.45sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.63sINFOcomponent_container_mt[2026-08-26 00:49:03.277] [moveit_pro_license] [info] ×2 + 0.63sINFOcomponent_container_mt************************************************* ×4 + 0.63sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.63sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.69sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.69sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.70sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.70sWARNros2_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 + 0.70sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.70sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.70sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.70sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.70sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.70sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.70sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.70sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.70sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.70sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.70sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.70sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.70sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.70sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.70sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.70sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.70sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.70sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.75sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679292 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679292 ms (missed cycles : 2).[0m ×2 + 0.77sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.77sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.77sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.77sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.78sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.79sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.79sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.97sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.97sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.10sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.10sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.12sINFOros2-4process has finished cleanly [pid 8814] ×2 + 1.21sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.21sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.28sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.29sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.29sINFOros2_control_node[2026-08-26 00:49:03.939] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-08-26 00:49:03.939] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.32sINFOros2_control_node[2026-08-26 00:49:03.964] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.32sINFOros2_control_node[2026-08-26 00:49:03.965] [info] Controller state will be published at 50 Hz. ×2 + 1.33sINFOros2_control_node[2026-08-26 00:49:03.971] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.66sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.66sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.67sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.67sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.67sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.67sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.68sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.68sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.70sINFOros2-6process has finished cleanly [pid 8816] ×2 + 1.71sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.71sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.71sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.72sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.72sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.73sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.73sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4).[0m ×2 + 2.04sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.04sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.04sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.04sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.06sINFOros2-3process has finished cleanly [pid 8813] ×2 + 2.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 2.11sWARNobjective_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 + 2.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 2.16sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.16sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.19sINFOros2_control_node[2026-08-26 00:49:04.836] [info] Controller state will be published at 10 Hz. ×2 + 2.19sINFOros2_control_node[2026-08-26 00:49:04.837] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.53sINFOros2-7process has finished cleanly [pid 8817] ×2 + 2.53sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 2.53sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 2.61sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.61sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.61sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.61sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.61sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.61sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.61sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.61sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.61sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.62sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.62sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.62sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.62sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.62sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.62sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2). + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2).[0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.89sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.93sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.93sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.93sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.93sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 2.93sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 2.95sINFOros2-5process has finished cleanly [pid 8815] ×2 + 2.98sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.98sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.98sINFOforce_torque_sensor_broadcasterconfigure successful + 2.98sINFOros2_control_nodeconfigure successful[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.99sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.99sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.28sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.28sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.32sINFOros2-2process has finished cleanly [pid 8812] ×2 + 3.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 3.35sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 3.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.43sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 3.43sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 3.76sINFOros2-8process has finished cleanly [pid 8818] ×2 + 4.10sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.11sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 4.98sWARNros2_control_nodeCamera render tick took 1.96 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 + 5.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 6.25sWARNros2_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 + 6.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 7.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 7.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 8.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 8.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 8.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 8.09sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.09sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.8s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1787705361.61398506 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705362.26770973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705362.37783194 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705363.00849223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6).[0m ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	23 warnings · 100 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641600 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641600 ms (missed cycles : 5).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458348 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458348 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793548 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793548 ms (missed cycles : 6).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074589 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074589 ms (missed cycles : 5).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787705420.98830390 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705421.64999413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705421.71013236 seconds ×3 + 4.74sWARNros2_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 + 5.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705422.31230950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.18sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6).[0m ×2 + 7.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787705424.43243980 seconds ×3
✓ 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 1.829384 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829384 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-26 00:49:31.563] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-26 00:49:31.563] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.19sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Received new action goal ×2 + 2.19sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Accepted new action goal ×2 + 2.65sWARNros2_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 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705374.86036062 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705375.48409176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705375.56421971 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705376.20352840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.04sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.05sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Received new action goal ×2 + 5.05sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 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 4.982155 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3).[0m ×2 + 0.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Got request to cancel active goal. ×2 + 0.45sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Canceling active goal... ×2 + 0.46sERRORobjective_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: 1787705638.11104822 seconds ×3 + 0.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705638.71473575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6).[0m ×2 + 2.32sWARNros2_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 + 2.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705640.33487034 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705640.96216512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.31sINFOobjective_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 + 3.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705640.96486306 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705641.66276670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705641.66322160 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973042 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973042 ms (missed cycles : 5).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705642.26195526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040640 ms (missed cycles : 4). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040640 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705643.40209627 seconds ×3 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443878 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443878 ms (missed cycles : 4).[0m ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	3 errors · 25 warnings · 134 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_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 + 3.51sERRORobjective_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: 1787705625.60707831 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 6.06sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	30 warnings · 427 info
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8816] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 8813] ×2 + 0.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.45sWARNobjective_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 + 0.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.49sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.53sINFOros2_control_node[2026-08-26 00:49:04.836] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-08-26 00:49:04.837] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.86sINFOros2-7process has finished cleanly [pid 8817] ×2 + 0.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.95sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.95sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.95sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.96sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.96sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.10sINFOobjective_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2). + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2).[0m ×2 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.29sINFOros2-5process has finished cleanly [pid 8815] ×2 + 1.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOforce_torque_sensor_broadcasterconfigure successful + 1.32sINFOros2_control_nodeconfigure successful[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.65sINFOros2-2process has finished cleanly [pid 8812] ×2 + 1.68sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.68sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.73sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.73sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.73sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.76sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 2.09sINFOros2-8process has finished cleanly [pid 8818] ×2 + 2.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodeCamera render tick took 1.96 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 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 4.58sWARNros2_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 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.06sINFOobjective_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 + 7.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.18sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.21sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 7.21sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×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 2.409163 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409163 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3).[0m ×2 + 1.53sINFOobjective_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 + 1.54sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Got request to cancel active goal. ×2 + 1.54sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Canceling active goal... ×2 + 1.54sERRORobjective_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: 1787705638.11104822 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3).[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705638.71473575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6).[0m ×2 + 3.41sWARNros2_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 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705640.33487034 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705640.96216512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.40sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.40sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.40sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705640.96486306 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787705641.66276670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787705641.66322160 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973042 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.973042 ms (missed cycles : 5).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787705642.26195526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040640 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040640 ms (missed cycles : 4).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787705643.40209627 seconds ×3 + 6.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 8.746381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_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 + 2.42sERRORobjective_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: 1787705625.60707831 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 4.96sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2).[0m ×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 2.428705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2).[0m ×2 + 0.38sINFOobjective_server_node[2026-08-26 00:50:29.466] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970142302 [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 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970176196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-26 00:50:30.147] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.203682314 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206809303 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206849424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.19sINFOobjective_server_node[2026-08-26 00:50:30.272] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-26 00:50:30.645610609 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666956152 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666985484 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705432.50980425 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705433.19904399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.22sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Accepted new action goal ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902990 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902990 ms (missed cycles : 2).[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1787705361.61398506 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705362.26770973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705362.37783194 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705363.00849223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3).[0m ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1787705361.61398506 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705362.26770973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705362.37783194 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705363.00849223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3).[0m ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2).[0m ×2 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4).[0m ×2 + 1.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Accepted new action goal ×2 + 1.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705374.86036062 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705375.48409176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705375.56421971 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705376.20352840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2).[0m ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2).[0m ×2 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4).[0m ×2 + 1.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Accepted new action goal ×2 + 1.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705374.86036062 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705375.48409176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705375.56421971 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705376.20352840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2).[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	20 warnings · 73 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2).[0m ×2 + 0.38sINFOobjective_server_node[2026-08-26 00:50:29.466] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970142302 [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 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970176196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-26 00:50:30.147] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.203682314 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206809303 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206849424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.19sINFOobjective_server_node[2026-08-26 00:50:30.272] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-26 00:50:30.645610609 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666956152 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666985484 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705432.50980425 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705433.19904399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.22sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Accepted new action goal ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2).[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 20 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 23 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846645 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846645 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280546 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.280546 ms (missed cycles : 6).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185449 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185449 ms (missed cycles : 5).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741943 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741943 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sERRORobjective_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: 1787705604.09849644 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787705604.72235727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809417 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809417 ms (missed cycles : 2).[0m ×2 + 4.34sWARNros2_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 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.38sINFOros2_control_node[2026-08-26 00:53:25.013] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-08-26 00:53:25.013] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953109 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953109 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130658 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130658 ms (missed cycles : 4).[0m ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	20 warnings · 45 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586467 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586467 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542078 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542078 ms (missed cycles : 4).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809781 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809781 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787705614.61664033 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265739 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.265739 ms (missed cycles : 5).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787705615.22679996 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (6.12e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.00sINFOros2_control_node[2026-08-26 00:53:35.361] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-08-26 00:53:35.361] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539164 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539164 ms (missed cycles : 5).[0m ×2 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238413 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238413 ms (missed cycles : 3).[0m ×2 + 5.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 25 warnings · 131 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_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 + 3.51sERRORobjective_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: 1787705625.60707831 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 6.06sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 25 warnings · 131 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_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 + 3.51sERRORobjective_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: 1787705625.60707831 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 6.06sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1787705361.61398506 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705362.26770973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705362.37783194 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705363.00849223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1787705361.61398506 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705362.26770973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705362.37783194 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705363.00849223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6).[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1787705361.61398506 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705362.26770973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705362.37783194 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705363.00849223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6).[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783491 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676435 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266474 ms (missed cycles : 4).[0m ×2 + 2.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 2.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Received new action goal ×2 + 2.45sINFOros2_control_node[2026-08-26 00:49:21.101] [info] Accepted new action goal ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-08-26 00:49:21.598] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1787705361.61398506 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030132 ms (missed cycles : 5).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787705362.26770973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787705362.37783194 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340060 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787705363.00849223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-26 00:49:23.202] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686261 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.856397 ms (missed cycles : 6).[0m ×2
− skipped	Collect Training Data with Behaviors	collect_training_data_with_behaviors.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2).[0m ×2 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4).[0m ×2 + 1.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Accepted new action goal ×2 + 1.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705374.86036062 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705375.48409176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705375.56421971 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705376.20352840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2).[0m ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2).[0m ×2 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4).[0m ×2 + 1.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Accepted new action goal ×2 + 1.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705374.86036062 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705375.48409176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705375.56421971 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705376.20352840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2).[0m ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	20 warnings · 83 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664904 ms (missed cycles : 2).[0m ×2 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052263 ms (missed cycles : 4).[0m ×2 + 1.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-26 00:49:33.474] [info] Accepted new action goal ×2 + 1.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115819 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787705374.86036062 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787705375.48409176 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787705375.56421971 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220519 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787705376.20352840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-08-26 00:49:36.342] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808805 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029065 ms (missed cycles : 2).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 20 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203151 ms (missed cycles : 2).[0m ×2 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:49:44.395] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795456 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990600 ms (missed cycles : 6).[0m ×2 + 2.52sWARNros2_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 + 3.12sINFOobjective_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 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 3.20sERRORobjective_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: 1787705386.72858405 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.025078 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787705387.37296796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-26 00:49:47.578] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275730 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750157 ms (missed cycles : 2).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 25 warnings · 78 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149230 ms (missed cycles : 5). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.149230 ms (missed cycles : 5).[0m ×2 + 0.67sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.67sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.68sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 0.68sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.77sINFOobjective_server_nodeFound path in 1 iterations (0.00332132 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.97sINFOros2_control_node[2026-08-26 00:50:05.844] [info] Received new action goal ×2 + 0.97sINFOros2_control_node[2026-08-26 00:50:05.844] [info] Accepted new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:50:06.276] [info] Received new action goal ×2 + 1.40sINFOros2_control_node[2026-08-26 00:50:06.276] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949742 ms (missed cycles : 5). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949742 ms (missed cycles : 5).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482056 ms (missed cycles : 2). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482056 ms (missed cycles : 2).[0m ×2 + 2.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858721 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858721 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.72sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.72sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.72sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.75sERRORobjective_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: 1787705408.62131381 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.55sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787705409.42952132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291263 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291263 ms (missed cycles : 5).[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 4.74sINFOros2_control_node[2026-08-26 00:50:09.617] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-08-26 00:50:09.617] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623705 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623705 ms (missed cycles : 3).[0m ×2 + 5.97sWARNros2_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 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156195 ms (missed cycles : 5). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156195 ms (missed cycles : 5).[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 7.641600 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.641600 ms (missed cycles : 5).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458348 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458348 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793548 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.793548 ms (missed cycles : 6).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074589 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074589 ms (missed cycles : 5).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787705420.98830390 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705421.64999413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.45sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705421.71013236 seconds ×3 + 4.74sWARNros2_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 + 5.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705422.31230950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.18sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6).[0m ×2
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	25 warnings · 106 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304791 ms (missed cycles : 3).[0m ×2 + 0.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787705421.64999413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.14sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787705421.71013236 seconds ×3 + 0.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.76sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787705422.31230950 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.87sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Received new action goal ×2 + 0.87sINFOros2_control_node[2026-08-26 00:50:22.426] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759003 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.665819 ms (missed cycles : 6).[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787705424.43243980 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662861 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.662861 ms (missed cycles : 6).[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353537 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.353537 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787705426.03060269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076457 ms (missed cycles : 6). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076457 ms (missed cycles : 6).[0m ×2 + 6.08sINFOobjective_server_node[2026-08-26 00:50:27.634] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677540 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677540 ms (missed cycles : 2).[0m ×2 + 6.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 6.89sINFOobjective_server_node[0;93m2026-08-26 00:50:28.448065543 [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 + 6.89sINFOobjective_server_node[0;93m2026-08-26 00:50:28.448098026 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	20 warnings · 73 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2).[0m ×2 + 0.38sINFOobjective_server_node[2026-08-26 00:50:29.466] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970142302 [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 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970176196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-26 00:50:30.147] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.203682314 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206809303 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206849424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.19sINFOobjective_server_node[2026-08-26 00:50:30.272] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-26 00:50:30.645610609 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666956152 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666985484 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705432.50980425 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705433.19904399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.22sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Accepted new action goal ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	20 warnings · 73 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2).[0m ×2 + 0.38sINFOobjective_server_node[2026-08-26 00:50:29.466] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970142302 [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 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970176196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-26 00:50:30.147] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.203682314 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206809303 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206849424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.19sINFOobjective_server_node[2026-08-26 00:50:30.272] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-26 00:50:30.645610609 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666956152 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666985484 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705432.50980425 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705433.19904399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.22sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Accepted new action goal ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2).[0m ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	20 warnings · 73 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428705 ms (missed cycles : 2).[0m ×2 + 0.38sINFOobjective_server_node[2026-08-26 00:50:29.466] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970142302 [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 + 0.89sINFOobjective_server_node[0;93m2026-08-26 00:50:29.970176196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.204411 ms (missed cycles : 5).[0m ×2 + 1.06sINFOobjective_server_node[2026-08-26 00:50:30.147] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.203682314 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206809303 [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 + 1.12sINFOobjective_server_node[0;93m2026-08-26 00:50:30.206849424 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.19sINFOobjective_server_node[2026-08-26 00:50:30.272] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.56sINFOobjective_server_node[0;93m2026-08-26 00:50:30.645610609 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666956152 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-26 00:50:30.666985484 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.230021 ms (missed cycles : 5).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059163 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787705432.50980425 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787705433.19904399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_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 + 4.22sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661470 ms (missed cycles : 2).[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-26 00:50:33.627] [info] Accepted new action goal ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342919 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	20 warnings · 91 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-26 00:51:23.183] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-26 00:51:23.183] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146947 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.146947 ms (missed cycles : 5).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795356 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795356 ms (missed cycles : 2).[0m ×2 + 1.74sWARNros2_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 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760801 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760801 ms (missed cycles : 3).[0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901894 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.901894 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787705486.78752232 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787705487.39870214 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.50sINFOros2_control_node[2026-08-26 00:51:27.572] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-26 00:51:27.572] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308237 ms (missed cycles : 4). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.308237 ms (missed cycles : 4).[0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783992 ms (missed cycles : 2). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783992 ms (missed cycles : 2).[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 + 5.83sINFOobjective_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 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	23 warnings · 2601 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×422 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×422 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×844 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×844 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686457 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686457 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824539 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824539 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642720 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642720 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_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 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751163 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751163 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.01sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705553.33272791 seconds ×3 + 4.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805752 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805752 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787705553.96937370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 5 iterations (0.00759615 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.91sINFOros2_control_node[2026-08-26 00:52:34.236] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-26 00:52:34.236] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845041 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845041 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689772 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689772 ms (missed cycles : 4).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	23 warnings · 2601 info
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×422 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×422 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×844 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×844 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686457 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686457 ms (missed cycles : 2).[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824539 ms (missed cycles : 2). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824539 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642720 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642720 ms (missed cycles : 2).[0m ×2 + 2.90sWARNros2_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 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751163 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751163 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 4.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.01sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 4.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787705553.33272791 seconds ×3 + 4.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805752 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805752 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787705553.96937370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 5 iterations (0.00759615 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.91sINFOros2_control_node[2026-08-26 00:52:34.236] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-26 00:52:34.236] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845041 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845041 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689772 ms (missed cycles : 4). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689772 ms (missed cycles : 4).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	23 warnings · 48 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246837 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246837 ms (missed cycles : 5).[0m ×2 + 2.17sWARNros2_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 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315413 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315413 ms (missed cycles : 4).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442324 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442324 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787705582.22958302 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.74sINFOros2_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 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787705582.90524220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.790634 ms (missed cycles : 7). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.790634 ms (missed cycles : 7).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-08-26 00:53:03.129] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-26 00:53:03.129] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942528 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942528 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523083 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523083 ms (missed cycles : 4).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	23 warnings · 48 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335374 ms (missed cycles : 3).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246837 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246837 ms (missed cycles : 5).[0m ×2 + 2.17sWARNros2_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 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315413 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.315413 ms (missed cycles : 4).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442324 ms (missed cycles : 5). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.442324 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787705582.22958302 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.74sINFOros2_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 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787705582.90524220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.790634 ms (missed cycles : 7). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.790634 ms (missed cycles : 7).[0m ×2 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-08-26 00:53:03.129] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-26 00:53:03.129] [info] Accepted new action goal ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942528 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942528 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523083 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.523083 ms (missed cycles : 4).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 20 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 20 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 20 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 20 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 20 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 20 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 20 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place Object	place_object.xml	0.0s	3 errors · 20 warnings · 65 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250877 ms (missed cycles : 2).[0m ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Received new action goal ×2 + 0.23sINFOros2_control_node[2026-08-26 00:53:10.044] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706485 ms (missed cycles : 5).[0m ×2 + 1.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945613 ms (missed cycles : 2).[0m ×2 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Received new action goal ×2 + 2.14sINFOros2_control_node[2026-08-26 00:53:11.958] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075235 ms (missed cycles : 4).[0m ×2 + 3.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_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 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Got request to cancel active goal. ×2 + 3.29sINFOros2_control_node[2026-08-26 00:53:13.105] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1787705593.12079191 seconds ×3 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.55sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787705593.78804493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-26 00:53:13.972] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103640 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479360 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 25 warnings · 131 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_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 + 3.51sERRORobjective_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: 1787705625.60707831 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 6.06sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 25 warnings · 131 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261026 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_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 + 3.51sERRORobjective_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: 1787705625.60707831 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.68sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 6.06sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[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 8.746381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_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 + 2.42sERRORobjective_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: 1787705625.60707831 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 4.96sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2).[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 8.746381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_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 + 2.42sERRORobjective_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: 1787705625.60707831 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 4.96sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2).[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 8.746381 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746381 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386802 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090049 ms (missed cycles : 3).[0m ×2 + 2.41sINFOobjective_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 + 2.42sERRORobjective_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: 1787705625.60707831 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787705626.25438070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492531 ms (missed cycles : 2).[0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.12sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787705626.32453012 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787705626.92772770 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.76sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787705626.94984818 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283338 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787705627.66633773 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Received new action goal ×2 + 4.59sINFOros2_control_node[2026-08-26 00:53:47.780] [info] Accepted new action goal ×2 + 4.96sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.695273 ms (missed cycles : 5).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232201 ms (missed cycles : 2).[0m ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 26 warnings · 84 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475630 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475630 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831076 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831076 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409163 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409163 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Canceling active goal... ×2 + 3.63sERRORobjective_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: 1787705638.11104822 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×5 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×10 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705638.71473575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6).[0m ×2 + 5.49sWARNros2_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 + 5.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705640.33487034 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705640.96216512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.48sINFOobjective_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 + 6.48sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.48sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705640.96486306 seconds ×3
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 26 warnings · 84 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475630 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475630 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831076 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831076 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409163 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409163 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982155 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-26 00:53:58.106] [info] Canceling active goal... ×2 + 3.63sERRORobjective_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: 1787705638.11104822 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×5 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×10 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618068 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787705638.71473575 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.739619 ms (missed cycles : 6).[0m ×2 + 5.49sWARNros2_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 + 5.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787705640.33487034 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598074 ms (missed cycles : 4).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787705640.96216512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.48sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.48sINFOobjective_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 + 6.48sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.48sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787705640.96486306 seconds ×3

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass8 skip

✓ passed	—	clear_snapshot.xml	9.1s	43 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/2026-08-26-00-48-57-094003-3586af8187fe-8763 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.86sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.86sINFOcontroller_managerupdate rate is 600 Hz + 1.86sINFOcontroller_managerOverruns handling is : enabled + 1.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.86sWARNcontroller_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. + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214348 ms (missed cycles : 5). + 2.04sINFOros2_control_node-1process started with pid [8811] ×2 + 2.04sINFOmove_group-9process started with pid [8848] ×2 + 2.05sINFOparameter_manager_node-10process started with pid [8849] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [8850] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [8851] ×2 + 2.05sINFOmove_end_effector_resampler_node-13process started with pid [8852] ×2 + 2.05sINFOobjective_server_node_main-14process started with pid [8853] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [8854] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [8855] ×2 + 2.07sINFOexecute_objective_bridge-17process started with pid [8856] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [8857] ×2 + 2.07sINFOweb_bridge-19process started with pid [8858] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [8922] ×2 + 2.07sINFOvideo_server-21process started with pid [8923] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [8924] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [8925] ×2 + 2.07sINFOros2-2process started with pid [8812] ×2 + 2.07sINFOros2-3process started with pid [8813] ×2 + 2.07sINFOros2-4process started with pid [8814] ×2 + 2.07sINFOros2-5process started with pid [8815] ×2 + 2.07sINFOros2-6process started with pid [8816] ×2 + 2.07sINFOros2-7process started with pid [8817] ×2 + 2.07sINFOros2-8process started with pid [8818] ×2 + 2.10sINFOcontroller_managerReceived robot description from topic. + 2.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.10sWARNros2_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 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214348 ms (missed cycles : 5).[0m ×2 + 2.10sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.12sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.33sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.43sINFOvideo_server2026/08/26 00:49:00 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.43sINFOvideo_server2026/08/26 00:49:00 INF configuration loaded from /tmp/moveit-webrtc-y8k1bi1q/mediamtx.yml ×2 + 2.44sINFOvideo_server2026/08/26 00:49:00 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.44sINFOvideo_server2026/08/26 00:49:00 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857926 ms (missed cycles : 3). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857926 ms (missed cycles : 3).[0m ×2 + 3.13sINFOmove_group[2026-08-26 00:49:00.997] [moveit_pro_license] [info] ×2 + 3.13sINFOmove_group************************************************* ×4 + 3.13sINFOmove_group* MoveIt Pro License ×2 + 3.13sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.39sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.39sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.39sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.39sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.55sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.61sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.61sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.61sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.63sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.64sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.78sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.78sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.82sINFOmove_group ×4 + 3.82sINFOmove_group[92mYou can start planning now![0m ×2 + 3.90sINFOwaypoint_manager_node[2026-08-26 00:49:01.760] [moveit_pro_license] [info] ×2 + 3.90sINFOwaypoint_manager_node************************************************* ×4 + 3.90sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.90sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.00sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562522 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562522 ms (missed cycles : 4).[0m ×2 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.11sINFOobjective_server_node[2026-08-26 00:49:02.975] [moveit_pro_license] [info] ×2 + 5.11sINFOobjective_server_node************************************************* ×4 + 5.11sINFOobjective_server_node* MoveIt Pro License ×2 + 5.11sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.22sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 5.22sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.23sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.23sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.23sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.23sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.23sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.23sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.23sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.23sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.41sINFOcomponent_container_mt[2026-08-26 00:49:03.277] [moveit_pro_license] [info] ×2 + 5.41sINFOcomponent_container_mt************************************************* ×4 + 5.41sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.41sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.47sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.48sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.48sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.48sWARNros2_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 + 5.48sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.48sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.48sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.48sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.48sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.48sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.48sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.48sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.48sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.48sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.48sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.48sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.48sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.48sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.48sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.48sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.48sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.48sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.48sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.48sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.48sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.48sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.48sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.48sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.48sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.48sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.48sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 5.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679292 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679292 ms (missed cycles : 2).[0m ×2 + 5.55sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.55sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.55sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.55sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.55sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.56sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.56sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.56sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.57sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.57sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.75sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.75sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.89sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.89sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.89sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.89sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.90sINFOros2-4process has finished cleanly [pid 8814] ×2 + 5.99sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 5.99sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 6.06sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.07sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.07sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.08sINFOros2_control_node[2026-08-26 00:49:03.939] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.08sINFOros2_control_node[2026-08-26 00:49:03.939] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.08sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.10sINFOros2_control_node[2026-08-26 00:49:03.964] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.10sINFOros2_control_node[2026-08-26 00:49:03.965] [info] Controller state will be published at 50 Hz. ×2 + 6.11sINFOros2_control_node[2026-08-26 00:49:03.971] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.45sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.45sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.45sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.45sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.45sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 6.45sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 6.46sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.46sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.48sINFOros2-6process has finished cleanly [pid 8816] ×2 + 6.50sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.50sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.50sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.50sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4).[0m ×2 + 6.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.84sINFOros2-3process has finished cleanly [pid 8813] ×2 + 6.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 6.89sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 6.90sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 6.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.97sINFOros2_control_node[2026-08-26 00:49:04.836] [info] Controller state will be published at 10 Hz. ×2 + 6.97sINFOros2_control_node[2026-08-26 00:49:04.837] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.31sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.31sINFOros2-7process has finished cleanly [pid 8817] ×2 + 7.31sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 7.31sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 7.39sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.39sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.39sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.39sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.39sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.39sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.39sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.39sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.40sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.40sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.40sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.40sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.41sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.41sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 7.55sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2). + 7.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2).[0m ×2 + 7.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.68sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.71sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.71sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.71sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.71sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.71sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 7.71sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 7.73sINFOros2-5process has finished cleanly [pid 8815] ×2 + 7.76sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.76sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.76sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.76sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.76sINFOforce_torque_sensor_broadcasterconfigure successful + 7.76sINFOros2_control_nodeconfigure successful[0m ×2 + 7.77sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.77sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.77sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.77sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.10sINFOros2-2process has finished cleanly [pid 8812] ×2 + 8.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 8.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 8.18sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.18sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.18sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.18sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.21sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 8.21sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 8.54sINFOros2-8process has finished cleanly [pid 8818] ×2 + 8.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 9.76sWARNros2_control_nodeCamera render tick took 1.96 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 10.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 11.03sWARNros2_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 + 11.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 302 info
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.02sINFOros2-5process has finished cleanly [pid 8815] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.39sINFOros2-2process has finished cleanly [pid 8812] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.50sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 0.50sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.83sINFOros2-8process has finished cleanly [pid 8818] ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 2.05sWARNros2_control_nodeCamera render tick took 1.96 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 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 3.32sWARNros2_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 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.94sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.94sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	25 warnings · 375 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOros2-7process has finished cleanly [pid 8817] ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2). + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2).[0m ×2 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8815] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.76sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.79sINFOros2-2process has finished cleanly [pid 8812] ×2 + 0.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.83sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.87sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.87sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 0.90sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 1.23sINFOros2-8process has finished cleanly [pid 8818] ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodeCamera render tick took 1.96 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 + 2.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 3.72sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.35sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2
− skipped	—	teleoperate.xml	0.1s	22 warnings · 302 info
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.02sINFOros2-5process has finished cleanly [pid 8815] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.39sINFOros2-2process has finished cleanly [pid 8812] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.50sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 0.50sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.83sINFOros2-8process has finished cleanly [pid 8818] ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 2.05sWARNros2_control_nodeCamera render tick took 1.96 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 + 2.23sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 3.32sWARNros2_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 + 3.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 4.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.92sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.94sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.94sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2
− skipped	—	createvector.xml	0.0s	30 warnings · 398 info
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8816] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 8813] ×2 + 0.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.45sWARNobjective_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 + 0.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.49sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.53sINFOros2_control_node[2026-08-26 00:49:04.836] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-08-26 00:49:04.837] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.86sINFOros2-7process has finished cleanly [pid 8817] ×2 + 0.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.95sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.95sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.95sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.96sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.96sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.10sINFOobjective_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2). + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2).[0m ×2 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.29sINFOros2-5process has finished cleanly [pid 8815] ×2 + 1.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOforce_torque_sensor_broadcasterconfigure successful + 1.32sINFOros2_control_nodeconfigure successful[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.65sINFOros2-2process has finished cleanly [pid 8812] ×2 + 1.68sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.68sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.73sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.73sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.73sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.76sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 2.09sINFOros2-8process has finished cleanly [pid 8818] ×2 + 2.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodeCamera render tick took 1.96 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 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 4.58sWARNros2_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 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2
− 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/2026-08-26-00-48-57-094003-3586af8187fe-8763 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.86sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.86sINFOcontroller_managerupdate rate is 600 Hz + 1.86sINFOcontroller_managerOverruns handling is : enabled + 1.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.86sWARNcontroller_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. + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214348 ms (missed cycles : 5). + 2.04sINFOros2_control_node-1process started with pid [8811] ×2 + 2.04sINFOmove_group-9process started with pid [8848] ×2 + 2.05sINFOparameter_manager_node-10process started with pid [8849] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [8850] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [8851] ×2 + 2.05sINFOmove_end_effector_resampler_node-13process started with pid [8852] ×2 + 2.05sINFOobjective_server_node_main-14process started with pid [8853] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [8854] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [8855] ×2 + 2.07sINFOexecute_objective_bridge-17process started with pid [8856] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [8857] ×2 + 2.07sINFOweb_bridge-19process started with pid [8858] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [8922] ×2 + 2.07sINFOvideo_server-21process started with pid [8923] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [8924] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [8925] ×2 + 2.07sINFOros2-2process started with pid [8812] ×2 + 2.07sINFOros2-3process started with pid [8813] ×2 + 2.07sINFOros2-4process started with pid [8814] ×2 + 2.07sINFOros2-5process started with pid [8815] ×2 + 2.07sINFOros2-6process started with pid [8816] ×2 + 2.07sINFOros2-7process started with pid [8817] ×2 + 2.07sINFOros2-8process started with pid [8818] ×2 + 2.10sINFOcontroller_managerReceived robot description from topic. + 2.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.10sWARNros2_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 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.214348 ms (missed cycles : 5).[0m ×2 + 2.10sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.12sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.33sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.43sINFOvideo_server2026/08/26 00:49:00 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.43sINFOvideo_server2026/08/26 00:49:00 INF configuration loaded from /tmp/moveit-webrtc-y8k1bi1q/mediamtx.yml ×2 + 2.44sINFOvideo_server2026/08/26 00:49:00 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.44sINFOvideo_server2026/08/26 00:49:00 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	30 warnings · 398 info
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8816] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 8813] ×2 + 0.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.45sWARNobjective_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 + 0.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.49sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.53sINFOros2_control_node[2026-08-26 00:49:04.836] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-08-26 00:49:04.837] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.86sINFOros2-7process has finished cleanly [pid 8817] ×2 + 0.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.95sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.95sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.95sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.96sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.96sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.10sINFOobjective_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2). + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2).[0m ×2 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.29sINFOros2-5process has finished cleanly [pid 8815] ×2 + 1.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOforce_torque_sensor_broadcasterconfigure successful + 1.32sINFOros2_control_nodeconfigure successful[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.65sINFOros2-2process has finished cleanly [pid 8812] ×2 + 1.68sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.68sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.73sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.73sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.73sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.76sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 2.09sINFOros2-8process has finished cleanly [pid 8818] ×2 + 2.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodeCamera render tick took 1.96 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 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 4.58sWARNros2_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 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	30 warnings · 398 info
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8816] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307195 ms (missed cycles : 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 8813] ×2 + 0.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.45sWARNobjective_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 + 0.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.49sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.53sINFOros2_control_node[2026-08-26 00:49:04.836] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-08-26 00:49:04.837] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.86sINFOros2-7process has finished cleanly [pid 8817] ×2 + 0.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.94sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.94sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.94sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.94sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.95sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.95sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.95sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.95sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.95sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.95sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.95sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.95sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.96sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.96sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.10sINFOobjective_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: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2). + 1.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2).[0m ×2 + 1.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.23sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.29sINFOros2-5process has finished cleanly [pid 8815] ×2 + 1.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOforce_torque_sensor_broadcasterconfigure successful + 1.32sINFOros2_control_nodeconfigure successful[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.65sINFOros2-2process has finished cleanly [pid 8812] ×2 + 1.68sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 1.68sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 1.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.73sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.73sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.73sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.76sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 2.09sINFOros2-8process has finished cleanly [pid 8818] ×2 + 2.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 3.31sWARNros2_control_nodeCamera render tick took 1.96 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 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 4.58sWARNros2_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 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2
− skipped	—	request_teleoperation.xml	0.0s	22 warnings · 375 info
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOros2-7process has finished cleanly [pid 8817] ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.09sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.10sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2). + 0.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030741 ms (missed cycles : 2).[0m ×2 + 0.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8815] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.76sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.79sINFOros2-2process has finished cleanly [pid 8812] ×2 + 0.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay + 0.83sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_dka3nms4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_mobrmiyt --params-file /tmp/launch_params_xw5yz4ay [0m ×2 + 0.87sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.87sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.90sINFOros2_control_node[2026-08-26 00:49:06.070] [info] Controller state will be published at 20 Hz. ×2 + 0.90sINFOros2_control_node[2026-08-26 00:49:06.071] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787705346.15261722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787705346.16280413 seconds ×3 + 1.23sINFOros2-8process has finished cleanly [pid 8818] ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 2.46sWARNros2_control_nodeCamera render tick took 1.96 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 + 2.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 3.72sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 4.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.33sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.35sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 6.35sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

10 skip

− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 227 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2 + 6.96sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	visualize_tf.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 219 info
+ 0.00sINFOros2-8process has finished cleanly [pid 8818] ×2 + 0.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787705346.74883080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056998 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodeCamera render tick took 1.96 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787705347.80899239 seconds ×3 + 1.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2). + 1.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091289 ms (missed cycles : 2).[0m ×2 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787705348.43092084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787705348.49107218 seconds ×3 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372189 ms (missed cycles : 3).[0m ×2 + 2.49sWARNros2_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 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787705349.14474487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787705349.16487432 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787705349.87955332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.292455 ms (missed cycles : 7).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787705350.03036809 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787705350.71123815 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787705350.75136375 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266785 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787705351.35736394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_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 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (2.3427e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-08-26 00:49:11.515] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184079 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655285 ms (missed cycles : 4).[0m ×2