MoveIt Pro Objective Integration Tests

116

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

8.6s

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

30 pass53 skip

✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	43.7s	171 warnings · 293 info
+ 0.00sINFOobjective_server_node[2026-08-02 17:48:31.294] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3).[0m ×2 + 0.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810079212 [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 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810110021 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.65sINFOobjective_server_node[2026-08-02 17:48:31.943] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.000133278 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004602054 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004638087 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-02 17:48:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-02 17:48:32.590854723 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625258239 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625296847 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785692914.68412447 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785692915.39011717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.19sINFOobjective_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 + 4.20sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (8.976e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4).[0m ×2 + 6.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4).[0m ×2 + 7.39sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 7.41sINFOros2_control_node[2026-08-02 17:48:38.704] [info] Received new action goal ×2 + 7.41sINFOros2_control_node[2026-08-02 17:48:38.704] [info] Accepted new action goal ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014079 ms (missed cycles : 2). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014079 ms (missed cycles : 2).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779845 ms (missed cycles : 5). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779845 ms (missed cycles : 5).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583638 ms (missed cycles : 3). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583638 ms (missed cycles : 3).[0m ×2 + 10.57sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.57sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.59sINFOros2_control_node[2026-08-02 17:48:41.884] [info] Received new action goal ×2 + 10.59sINFOros2_control_node[2026-08-02 17:48:41.884] [info] Accepted new action goal ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951120 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951120 ms (missed cycles : 2).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378226 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378226 ms (missed cycles : 3).[0m ×2 + 12.97sWARNros2_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 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696504 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696504 ms (missed cycles : 2).[0m ×2 + 13.56sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 13.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.61sINFOros2_control_node[2026-08-02 17:48:44.909] [info] Received new action goal ×2 + 13.61sINFOros2_control_node[2026-08-02 17:48:44.909] [info] Accepted new action goal ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368132 ms (missed cycles : 4). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.368132 ms (missed cycles : 4).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856228 ms (missed cycles : 3). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856228 ms (missed cycles : 3).[0m ×2 + 16.58sINFOobjective_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 + 16.58sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.58sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.58sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.58sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319567 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319567 ms (missed cycles : 2).[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279326 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279326 ms (missed cycles : 2).[0m ×2 + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.816904 ms (missed cycles : 6). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.816904 ms (missed cycles : 6).[0m ×2 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002626 ms (missed cycles : 2). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002626 ms (missed cycles : 2).[0m ×2 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388200 ms (missed cycles : 2). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388200 ms (missed cycles : 2).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817464 ms (missed cycles : 5). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817464 ms (missed cycles : 5).[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869115 ms (missed cycles : 3). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.869115 ms (missed cycles : 3).[0m ×2 + 24.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.15sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.15sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.15sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.15sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095694 ms (missed cycles : 4). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095694 ms (missed cycles : 4).[0m ×2 + 25.03sINFOros2_control_node[2026-08-02 17:48:56.324] [info] Received new action goal ×2 + 25.03sINFOros2_control_node[2026-08-02 17:48:56.324] [info] Accepted new action goal ×2 + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983166 ms (missed cycles : 3). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983166 ms (missed cycles : 3).[0m ×2 + 26.22sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.23sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.50sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704103 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704103 ms (missed cycles : 2).[0m ×2 + 26.56sINFOros2_control_node[2026-08-02 17:48:57.853] [info] Received new action goal ×2 + 26.56sINFOros2_control_node[2026-08-02 17:48:57.853] [info] Accepted new action goal ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999950 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999950 ms (missed cycles : 3).[0m ×2 + 27.66sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108647 ms (missed cycles : 5). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108647 ms (missed cycles : 5).[0m ×2 + 28.86sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 28.87sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.88sINFOros2_control_node[2026-08-02 17:49:00.174] [info] Received new action goal ×2 + 28.88sINFOros2_control_node[2026-08-02 17:49:00.174] [info] Accepted new action goal ×2 + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.069564 ms (missed cycles : 7). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.069564 ms (missed cycles : 7).[0m ×2 + 30.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223112 ms (missed cycles : 2). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223112 ms (missed cycles : 2).[0m ×2 + 30.95sWARNros2_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 + 31.91sINFOros2_control_node[2026-08-02 17:49:03.205] [info] Received new action goal ×2 + 31.91sINFOros2_control_node[2026-08-02 17:49:03.205] [info] Accepted new action goal ×2 + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458518 ms (missed cycles : 3). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458518 ms (missed cycles : 3).[0m ×2 + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893672 ms (missed cycles : 3). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893672 ms (missed cycles : 3).[0m ×2 + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943259 ms (missed cycles : 7). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.943259 ms (missed cycles : 7).[0m ×2 + 34.51sINFOobjective_server_nodeFound path in 0 iterations (8.04e-07 s). ×2 + 34.51sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.57sINFOros2_control_node[2026-08-02 17:49:05.863] [info] Received new action goal ×2 + 34.57sINFOros2_control_node[2026-08-02 17:49:05.863] [info] Accepted new action goal ×2 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676048 ms (missed cycles : 3). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676048 ms (missed cycles : 3).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679378 ms (missed cycles : 2). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679378 ms (missed cycles : 2).[0m ×2 + 37.16sWARNros2_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 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909048 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909048 ms (missed cycles : 2).[0m ×2 + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092197 ms (missed cycles : 2). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092197 ms (missed cycles : 2).[0m ×2 + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460826 ms (missed cycles : 4). + 39.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460826 ms (missed cycles : 4).[0m ×2 + 40.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754132 ms (missed cycles : 2). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754132 ms (missed cycles : 2).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761769 ms (missed cycles : 2). + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761769 ms (missed cycles : 2).[0m ×2 + 42.22sWARNros2_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 ×4 + 43.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709368 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709368 ms (missed cycles : 3).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909448 ms (missed cycles : 2). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909448 ms (missed cycles : 2).[0m ×2 + 45.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014952 ms (missed cycles : 2). + 45.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014952 ms (missed cycles : 2).[0m ×2 + 45.86sINFOros2_control_node[2026-08-02 17:49:17.154] [info] Received new action goal ×2 + 45.86sINFOros2_control_node[2026-08-02 17:49:17.155] [info] Accepted new action goal ×2 + 46.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979011 ms (missed cycles : 5). + 46.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979011 ms (missed cycles : 5).[0m ×2 + 47.04sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785692958.33127093 seconds ×3 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745223 ms (missed cycles : 2). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745223 ms (missed cycles : 2).[0m ×2 + 47.82sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785692959.12013507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019241 ms (missed cycles : 4). + 48.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019241 ms (missed cycles : 4).[0m ×2 + 48.99sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 49.00sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 49.02sINFOros2_control_node[2026-08-02 17:49:20.315] [info] Received new action goal ×2 + 49.02sINFOros2_control_node[2026-08-02 17:49:20.315] [info] Accepted new action goal ×2 + 49.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084657 ms (missed cycles : 2). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084657 ms (missed cycles : 2).[0m ×2 + 50.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331462 ms (missed cycles : 2). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331462 ms (missed cycles : 2).[0m ×2
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	32.6s	3 errors · 125 warnings · 255 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217493 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217493 ms (missed cycles : 4).[0m ×2 + 0.42sWARNros2_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266101 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266101 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735831 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735831 ms (missed cycles : 5).[0m ×2 + 2.49sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 2.49sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785692992.23089147 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785692992.93966198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415911 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415911 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_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 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOobjective_server_nodeFound path in 5 iterations (0.00567128 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 3.48sINFOros2_control_node[2026-08-02 17:49:53.220] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-08-02 17:49:53.220] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622451 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622451 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175614 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175614 ms (missed cycles : 6).[0m ×2 + 6.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712026 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712026 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852529 ms (missed cycles : 4). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852529 ms (missed cycles : 4).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693403 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693403 ms (missed cycles : 2).[0m ×2 + 9.21sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417732 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417732 ms (missed cycles : 3).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423482 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423482 ms (missed cycles : 2).[0m ×2 + 11.43sWARNros2_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 + 11.60sINFOobjective_server_node[2026-08-02 17:50:01.343] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423781 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423781 ms (missed cycles : 2).[0m ×2 + 12.30sINFOobjective_server_node[0;m[0;93m2026-08-02 17:50:02.045189266 [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 + 12.30sINFOobjective_server_node[0;93m2026-08-02 17:50:02.045220663 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.47sINFOobjective_server_node[2026-08-02 17:50:02.217] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.00sINFOobjective_server_node[0;93m2026-08-02 17:50:02.745064158 [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 + 13.00sINFOobjective_server_node[0;93m2026-08-02 17:50:02.745099635 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838037 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838037 ms (missed cycles : 2).[0m ×2 + 13.11sINFOobjective_server_node[2026-08-02 17:50:02.859] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.16sINFOobjective_server_node[0;93m2026-08-02 17:50:02.907865911 [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 + 13.17sINFOobjective_server_node[0;93m2026-08-02 17:50:02.910747542 [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 + 13.17sINFOobjective_server_node[0;93m2026-08-02 17:50:02.910775490 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.18sINFOobjective_server_node[2026-08-02 17:50:02.925] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.58sINFOobjective_server_node[0;93m2026-08-02 17:50:03.325055610 [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 + 13.60sINFOobjective_server_node[0;93m2026-08-02 17:50:03.345833280 [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 + 13.60sINFOobjective_server_node[0;93m2026-08-02 17:50:03.345861058 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153250 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153250 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424322 ms (missed cycles : 3). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424322 ms (missed cycles : 3).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010339 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010339 ms (missed cycles : 2).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742572 ms (missed cycles : 3). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742572 ms (missed cycles : 3).[0m ×2 + 17.34sWARNros2_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 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092687 ms (missed cycles : 2). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092687 ms (missed cycles : 2).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817866 ms (missed cycles : 5). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817866 ms (missed cycles : 5).[0m ×2 + 19.89sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 20.23sINFOobjective_server_nodeFound path in 4 iterations (0.00294239 s). ×2 + 20.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.35sINFOobjective_server_nodeFound path in 14 iterations (0.00848649 s). ×2 + 20.39sINFOobjective_server_nodePath shortcutter: [X_________________________X_____________X_______________X] ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473107 ms (missed cycles : 4). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473107 ms (missed cycles : 4).[0m ×2 + 20.43sINFOobjective_server_nodeFound path in 2 iterations (0.00819143 s). ×2 + 20.48sINFOobjective_server_nodePath shortcutter: [X_____________________________X___________________X] ×2 + 20.51sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 20.55sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.58sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 20.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 20.65sINFOobjective_server_nodeFound path in 12 iterations (0.0059809 s). ×2 + 20.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 20.75sINFOobjective_server_nodeFound path in 1 iterations (0.00403177 s). ×2 + 20.81sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 20.83sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 20.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.90sINFOobjective_server_nodeFound path in 4 iterations (0.00539414 s). ×2 + 21.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________X] ×2 + 21.03sINFOobjective_server_nodeFound path in 4 iterations (0.00418472 s). ×2 + 21.13sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 21.16sINFOobjective_server_nodeFound path in 1 iterations (0.00734725 s). ×2 + 21.23sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 21.25sINFOobjective_server_nodeFound path in 0 iterations (9.08e-07 s). ×2 + 21.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.33sINFOobjective_server_nodeFound path in 1 iterations (0.00422191 s). ×2 + 21.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X_________________________X] ×2 + 21.44sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819216 ms (missed cycles : 3). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819216 ms (missed cycles : 3).[0m ×2 + 21.53sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 21.56sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 21.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 21.72sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 21.87sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 22.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 22.10sINFOros2_control_node[2026-08-02 17:50:11.841] [info] Received new action goal ×2 + 22.10sINFOros2_control_node[2026-08-02 17:50:11.841] [info] Accepted new action goal ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491993 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491993 ms (missed cycles : 2).[0m ×2 + 22.78sWARNros2_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 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.548302 ms (missed cycles : 4). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.548302 ms (missed cycles : 4).[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933112 ms (missed cycles : 5). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933112 ms (missed cycles : 5).[0m ×2 + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230389 ms (missed cycles : 2). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230389 ms (missed cycles : 2).[0m ×2 + 27.10sINFOros2_control_node[2026-08-02 17:50:16.843] [info] Received new action goal ×2 + 27.10sINFOros2_control_node[2026-08-02 17:50:16.843] [info] Accepted new action goal ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727646 ms (missed cycles : 6). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727646 ms (missed cycles : 6).[0m ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384819 ms (missed cycles : 4). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.384819 ms (missed cycles : 4).[0m ×2 + 28.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 28.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 28.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.72sINFOros2_control_node[2026-08-02 17:50:18.463] [info] Received new action goal ×2 + 28.72sINFOros2_control_node[2026-08-02 17:50:18.463] [info] Accepted new action goal ×2 + 29.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608674 ms (missed cycles : 3). + 29.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.608674 ms (missed cycles : 3).[0m ×2 + 29.92sWARNobjective_server_nodePlan up-over-down Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 29.92sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.96sINFOros2_control_node[2026-08-02 17:50:19.705] [info] Received new action goal ×2 + 29.96sINFOros2_control_node[2026-08-02 17:50:19.705] [info] Accepted new action goal ×2 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987234 ms (missed cycles : 3). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987234 ms (missed cycles : 3).[0m ×2 + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014836 ms (missed cycles : 4). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014836 ms (missed cycles : 4).[0m ×2 + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130600 ms (missed cycles : 3). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130600 ms (missed cycles : 3).[0m ×2 + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841446 ms (missed cycles : 5). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841446 ms (missed cycles : 5).[0m ×2 + 34.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 35.10sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785693024.84985280 seconds ×3 + 35.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670675 ms (missed cycles : 4). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670675 ms (missed cycles : 4).[0m ×2 + 35.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785693025.55245447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.03sINFOobjective_server_nodeFound path in 0 iterations (5.92e-07 s). ×2 + 36.03sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.04sINFOros2_control_node[2026-08-02 17:50:25.786] [info] Received new action goal ×2 + 36.04sINFOros2_control_node[2026-08-02 17:50:25.786] [info] Accepted new action goal ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000485 ms (missed cycles : 5). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000485 ms (missed cycles : 5).[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463079 ms (missed cycles : 4). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463079 ms (missed cycles : 4).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	31.5s	3 errors · 120 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2).[0m ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.48sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2).[0m ×2 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Got request to cancel active goal. ×2 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Canceling active goal... ×2 + 1.39sERRORobjective_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: 1785692826.56478143 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692827.16339564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692827.27352118 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692827.90185809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3).[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128222 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128222 ms (missed cycles : 3).[0m ×2 + 7.26sWARNros2_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 ×6 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225328 ms (missed cycles : 5). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.225328 ms (missed cycles : 5).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158517 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158517 ms (missed cycles : 2).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.275531 ms (missed cycles : 7). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.275531 ms (missed cycles : 7).[0m ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150436 ms (missed cycles : 4). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.150436 ms (missed cycles : 4).[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874926 ms (missed cycles : 3). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874926 ms (missed cycles : 3).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856809 ms (missed cycles : 2). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856809 ms (missed cycles : 2).[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919701 ms (missed cycles : 6). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919701 ms (missed cycles : 6).[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518283 ms (missed cycles : 5). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518283 ms (missed cycles : 5).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135176 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135176 ms (missed cycles : 2).[0m ×2 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778758 ms (missed cycles : 3). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778758 ms (missed cycles : 3).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842796 ms (missed cycles : 2). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842796 ms (missed cycles : 2).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946314 ms (missed cycles : 3). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946314 ms (missed cycles : 3).[0m ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889501 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889501 ms (missed cycles : 2).[0m ×2 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212801 ms (missed cycles : 2). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212801 ms (missed cycles : 2).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012642 ms (missed cycles : 4). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012642 ms (missed cycles : 4).[0m ×2 + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448726 ms (missed cycles : 2). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448726 ms (missed cycles : 2).[0m ×2 + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514161 ms (missed cycles : 4). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514161 ms (missed cycles : 4).[0m ×2 + 25.99sWARNros2_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 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934421 ms (missed cycles : 3). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934421 ms (missed cycles : 3).[0m ×2 + 27.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 27.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 27.27sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 27.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370406 ms (missed cycles : 6). + 27.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.370406 ms (missed cycles : 6).[0m ×2 + 27.56sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 27.56sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.57sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 27.58sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 27.59sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 27.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 27.66sINFOobjective_server_nodeFound path in 1 iterations (0.00346529 s). ×2 + 27.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 27.84sINFOros2_control_node[2026-08-02 17:47:33.014] [info] Received new action goal ×2 + 27.84sINFOros2_control_node[2026-08-02 17:47:33.014] [info] Accepted new action goal ×2 + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242427 ms (missed cycles : 4). + 28.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242427 ms (missed cycles : 4).[0m ×2 + 29.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710848 ms (missed cycles : 2). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710848 ms (missed cycles : 2).[0m ×2 + 30.31sINFOros2_control_node[2026-08-02 17:47:35.488] [info] Received new action goal ×2 + 30.32sINFOros2_control_node[2026-08-02 17:47:35.488] [info] Accepted new action goal ×2 + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187772 ms (missed cycles : 5). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187772 ms (missed cycles : 5).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3).[0m ×2 + 32.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 32.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 32.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 32.23sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Received new action goal ×2 + 32.23sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Accepted new action goal ×2 + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5).[0m ×2 + 33.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785692858.78569341 seconds ×3 + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3).[0m ×2 + 34.23sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785692859.40160298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785692859.48172474 seconds ×3 + 34.95sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785692860.12907505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.06sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 35.07sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 35.08sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Received new action goal ×2 + 35.08sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Accepted new action goal ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4).[0m ×2 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3).[0m ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6).[0m ×2
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	16.1s	21 errors · 75 warnings · 252 info
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191499 ms (missed cycles : 5). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191499 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692973.70101595 seconds ×3 + 0.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 0.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 0.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692974.33333397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.74sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.75sINFOros2_control_node[2026-08-02 17:49:34.488] [info] Received new action goal ×2 + 1.75sINFOros2_control_node[2026-08-02 17:49:34.488] [info] Accepted new action goal ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050291 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050291 ms (missed cycles : 2).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821883 ms (missed cycles : 4). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821883 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_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 + 3.07sINFOobjective_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 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692976.08606195 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785692976.71525407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701614 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701614 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sINFOros2_control_node[2026-08-02 17:49:36.889] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-02 17:49:36.889] [info] Accepted new action goal ×2 + 4.47sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858240 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858240 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494783 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494783 ms (missed cycles : 5).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.456919 ms (missed cycles : 6). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.456919 ms (missed cycles : 6).[0m ×2 + 7.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 7.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.88sINFOros2_control_node[2026-08-02 17:49:40.616] [info] Received new action goal ×2 + 7.88sINFOros2_control_node[2026-08-02 17:49:40.616] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608902 ms (missed cycles : 4). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608902 ms (missed cycles : 4).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876682 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876682 ms (missed cycles : 2).[0m ×2 + 9.71sINFOros2_control_node[2026-08-02 17:49:42.452] [info] Received new action goal ×2 + 9.71sINFOros2_control_node[2026-08-02 17:49:42.452] [info] Accepted new action goal ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623004 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623004 ms (missed cycles : 2).[0m ×2 + 10.63sWARNros2_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 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351333 ms (missed cycles : 6). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351333 ms (missed cycles : 6).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481972 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481972 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251125 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251125 ms (missed cycles : 3).[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.272109 ms (missed cycles : 5). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.272109 ms (missed cycles : 5).[0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321982 ms (missed cycles : 5). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321982 ms (missed cycles : 5).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217493 ms (missed cycles : 4). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217493 ms (missed cycles : 4).[0m ×2 + 17.43sWARNros2_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 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266101 ms (missed cycles : 5). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266101 ms (missed cycles : 5).[0m ×2 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735831 ms (missed cycles : 5). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735831 ms (missed cycles : 5).[0m ×2 + 19.49sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785692992.23089147 seconds ×3 + 20.20sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785692992.93966198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 20.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415911 ms (missed cycles : 2). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415911 ms (missed cycles : 2).[0m ×2 + 20.39sINFOobjective_server_nodeFound path in 5 iterations (0.00567128 s). ×2 + 20.46sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 20.48sINFOros2_control_node[2026-08-02 17:49:53.220] [info] Received new action goal ×2 + 20.48sINFOros2_control_node[2026-08-02 17:49:53.220] [info] Accepted new action goal ×2 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622451 ms (missed cycles : 4). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622451 ms (missed cycles : 4).[0m ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175614 ms (missed cycles : 6). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175614 ms (missed cycles : 6).[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	12.1s	3 errors · 60 warnings · 179 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.11sINFOobjective_server_nodeFound path in 1 iterations (0.00428993 s). ×2 + 0.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.30sINFOros2_control_node[2026-08-02 17:48:09.665] [info] Received new action goal ×2 + 0.30sINFOros2_control_node[2026-08-02 17:48:09.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294601 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294601 ms (missed cycles : 3).[0m ×2 + 0.74sINFOros2_control_node[2026-08-02 17:48:10.106] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-08-02 17:48:10.106] [info] Accepted new action goal ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200025 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200025 ms (missed cycles : 4).[0m ×2 + 2.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166792 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166792 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sERRORobjective_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: 1785692892.55262613 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480153 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480153 ms (missed cycles : 2).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785692893.41112089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.92e-07 s). ×2 + 4.23sINFOros2_control_node[2026-08-02 17:48:13.595] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-02 17:48:13.595] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174908 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174908 ms (missed cycles : 5).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257486 ms (missed cycles : 5). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257486 ms (missed cycles : 5).[0m ×2 + 6.75sINFOros2_control_node[2026-08-02 17:48:16.121] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-08-02 17:48:16.121] [info] Accepted new action goal ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711659 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711659 ms (missed cycles : 2).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223389 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223389 ms (missed cycles : 2).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872433 ms (missed cycles : 2). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872433 ms (missed cycles : 2).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187557 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187557 ms (missed cycles : 2).[0m ×2 + 9.97sWARNros2_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 ×4 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543285 ms (missed cycles : 5). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543285 ms (missed cycles : 5).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039455 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039455 ms (missed cycles : 4).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270641 ms (missed cycles : 5). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270641 ms (missed cycles : 5).[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595262 ms (missed cycles : 4). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595262 ms (missed cycles : 4).[0m ×2 + 15.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785692904.69218111 seconds ×3 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362092 ms (missed cycles : 4). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362092 ms (missed cycles : 4).[0m ×2 + 15.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785692905.28443193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785692905.35462165 seconds ×3 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2).[0m ×2 + 16.77sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785692906.14041901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.90sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 16.90sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.91sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Received new action goal ×2 + 16.91sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Accepted new action goal ×2 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5).[0m ×2 + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2).[0m ×2
✓ passed	Push Button	move_with_velocity_and_force.xml	11.6s	15 errors · 60 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909448 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909448 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.72sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.72sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.72sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.72sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014952 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014952 ms (missed cycles : 2).[0m ×2 + 1.61sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.62sINFOros2_control_node[2026-08-02 17:49:17.154] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-08-02 17:49:17.155] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979011 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979011 ms (missed cycles : 5).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785692958.33127093 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745223 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745223 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785692959.12013507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019241 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019241 ms (missed cycles : 4).[0m ×2 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 4.76sWARNros2_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 + 4.76sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.78sINFOros2_control_node[2026-08-02 17:49:20.315] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-02 17:49:20.315] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084657 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084657 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331462 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331462 ms (missed cycles : 2).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117972 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.117972 ms (missed cycles : 5).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467327 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467327 ms (missed cycles : 2).[0m ×2 + 8.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.48sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.48sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.48sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.48sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156995 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156995 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732727 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732727 ms (missed cycles : 2).[0m ×2 + 10.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 10.87sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 10.87sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.89sINFOros2_control_node[2026-08-02 17:49:26.424] [info] Received new action goal ×2 + 10.89sINFOros2_control_node[2026-08-02 17:49:26.424] [info] Accepted new action goal ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818250 ms (missed cycles : 3). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818250 ms (missed cycles : 3).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012594 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012594 ms (missed cycles : 4).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940479 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940479 ms (missed cycles : 2).[0m ×2 + 14.49sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785692970.03027892 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444777 ms (missed cycles : 4). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444777 ms (missed cycles : 4).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692970.69121003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.31sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 15.32sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.32sINFOros2_control_node[2026-08-02 17:49:30.854] [info] Received new action goal ×2 + 15.32sINFOros2_control_node[2026-08-02 17:49:30.854] [info] Accepted new action goal ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521279 ms (missed cycles : 6). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521279 ms (missed cycles : 6).[0m ×2 + 16.59sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.59sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.65sWARNros2_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 + 16.98sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×15 + 16.99sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246047 ms (missed cycles : 5). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246047 ms (missed cycles : 5).[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.2s	3 errors · 57 warnings · 332 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 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 + 0.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_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 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.83sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 3.83sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.33sINFOros2_control_node[2026-08-02 17:46:58.592] [info] Received new action goal ×2 + 6.34sINFOros2_control_node[2026-08-02 17:46:58.592] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147133 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147133 ms (missed cycles : 4).[0m ×2 + 6.69sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735857 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735857 ms (missed cycles : 3).[0m ×2 + 8.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043240 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043240 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331583 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331583 ms (missed cycles : 2).[0m ×2 + 10.06sINFOobjective_server_nodeFound path in 0 iterations (7.02e-07 s). ×2 + 10.08sINFOros2_control_node[2026-08-02 17:47:02.342] [info] Received new action goal ×2 + 10.08sINFOros2_control_node[2026-08-02 17:47:02.342] [info] Accepted new action goal ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190359 ms (missed cycles : 5). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190359 ms (missed cycles : 5).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709383 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709383 ms (missed cycles : 2).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2).[0m ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 13.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.41sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Accepted new action goal ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2).[0m ×2 + 14.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.28sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Got request to cancel active goal. ×2 + 14.28sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Canceling active goal... ×2 + 14.31sERRORobjective_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: 1785692826.56478143 seconds ×3 + 14.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.90sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692827.16339564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692827.27352118 seconds ×3 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5).[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692827.90185809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 15.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.84sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Received new action goal ×2 + 15.84sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Accepted new action goal ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.2s	61 errors · 42 warnings · 341 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5).[0m ×2 + 0.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Got request to cancel active goal. ×2 + 0.93sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Canceling active goal... ×2 + 0.93sERRORobjective_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: 1785693080.44829273 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7).[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693081.05362153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785693081.59021997 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785693082.18026304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.66sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.66sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.66sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785693082.18211484 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785693082.83382607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785693082.83430433 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785693083.42463708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5).[0m ×2 + 4.78sWARNros2_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 + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785693084.65478969 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757230 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757230 ms (missed cycles : 2).[0m ×2 + 5.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362315 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362315 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644986 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.644986 ms (missed cycles : 4).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046408 ms (missed cycles : 4). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046408 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352385 ms (missed cycles : 6). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352385 ms (missed cycles : 6).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121708 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121708 ms (missed cycles : 4).[0m ×2 + 10.81sWARNros2_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 + 10.89sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.93sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_video_auth_proxy-23process has died [pid 10312, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.93sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.95sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.97sERRORweb_bridge_auth_proxy-22process has died [pid 10311, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.97sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.98sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.99sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.00sINFOvideo_server-21process has finished cleanly [pid 10310] ×2 + 11.00sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.02sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.03sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.04sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.06sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.07sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.08sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.10sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.11sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.13sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.13sINFOcontroller_managerShutdown request received.... + 11.13sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.13sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.13sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.13sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.13sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.13sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.13sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.13sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.13sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.13sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.13sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.13sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.13sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.13sINFOcontroller_managerShutting down the controller manager. + 11.13sINFOvideo_server2026/08/02 17:51:30 INF shutting down gracefully ×2 + 11.13sINFOvideo_server2026/08/02 17:51:30 INF [WebRTC] closing ×2 + 11.13sINFOvideo_server2026/08/02 17:51:30 INF [RTSP] closing ×2 + 11.13sINFOvideo_server2026/08/02 17:51:30 INF waiting for running hooks ×2 + 11.13sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.13sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.13sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.13sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.13sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.13sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.13sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.13sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.13sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.13sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.13sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.13sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.13sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.14sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.14sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.14sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.14sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.14sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.14sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.14sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.18sINFOobjective_server_node[0;m[2026-08-02 17:51:30.695] [moveit_pro_license] [info] ×2 + 11.18sINFOobjective_server_node************************************************* ×4 + 11.18sINFOobjective_server_node* MoveIt Pro License ×2 + 11.18sINFOobjective_server_node* Application has successfully terminated ×2 + 11.19sINFOtf2_web_republisher_node-20process has finished cleanly [pid 10309] ×2 + 11.19sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.23sINFOobjective_server_nodecorrupted double-linked list ×2 + 11.23sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.24sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.25sINFOobjective_server_node#14 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55c62842e6a4, in _start ×2 + 11.25sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc9118728a, in __libc_start_main ×2 + 11.25sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc911871d0, in ×2 + 11.25sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc911a4bbd, in exit ×2 + 11.25sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc911a4a75, in ×2 + 11.25sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.4.6.0", at 0x7fbc83d5228c, in ×2 + 11.25sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc9120adcd, in __libc_free ×2 + 11.25sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc91208439, in ×2 + 11.25sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc91208024, in ×2 + 11.25sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc91206b7b, in ×2 + 11.25sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc91205ff4, in ×2 + 11.25sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc911867b5, in ×2 + 11.25sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc911858fe, in abort ×2 + 11.25sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc911a227d, in raise ×2 + 11.25sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbc911fbb2c, in pthread_kill ×2 + 11.25sERRORobjective_server_nodeAborted (Signal sent by tkill() 10240 0) ×2 + 11.25sERRORui_teleop_bridge-18process has died [pid 10244, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_a37dxdu1']. ×2 + 11.26sINFOcomponent_container_mt-16process has finished cleanly [pid 10242] ×2 + 11.29sINFOexecute_objective_bridge-17process has finished cleanly [pid 10243] ×2 + 11.34sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.34sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.34sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.67sERRORobjective_server_node_main-14process has died [pid 10240, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_smu8i8hk --params-file /tmp/launch_params_ux89zupd --params-file /tmp/launch_params_arih3a5z --params-file /tmp/launch_params_9y25gg_m --params-file /tmp/launch_params_bzsroygp --params-file /tmp/launch_params_kbxoivzp --params-file /tmp/launch_params_12vxj1_j --params-file /tmp/launch_params_eultjpbc --params-file /tmp/launch_params_2cx00nr0']. ×2 + 11.67sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.10sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10239] ×2 + 12.11sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10238] ×2 + 12.16sINFOwaypoint_manager_node-11process has finished cleanly [pid 10237] ×2 + 12.17sINFOparameter_manager_node-10process has finished cleanly [pid 10236] ×2 + 12.23sINFOmove_group-9process has finished cleanly [pid 10235] ×2 + 12.24sINFOcomponent_container_mt-15process has finished cleanly [pid 10241] ×2 + 12.79sINFOros2_control_node-1process has finished cleanly [pid 10198] ×2 + 13.41sINFOweb_bridge-19process has finished cleanly [pid 10245] ×2 + 13.41sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.1s	9 errors · 60 warnings · 170 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235997 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235997 ms (missed cycles : 4).[0m ×2 + 0.30sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.59sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.59sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.59sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785692879.19035840 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105281 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105281 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630542 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630542 ms (missed cycles : 4).[0m ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880059 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880059 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785692882.05900955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-08-02 17:48:02.263] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-08-02 17:48:02.263] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871086 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871086 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912880 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912880 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639105 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639105 ms (missed cycles : 2).[0m ×2 + 7.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.09sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.09sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978606 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978606 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (7.12e-07 s). ×2 + 7.37sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.37sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.39sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.44sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.50sINFOobjective_server_nodeFound path in 1 iterations (0.00278413 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.63sINFOobjective_server_nodeFound path in 1 iterations (0.00506281 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X___________________________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (5.16e-07 s). ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.09sINFOros2_control_node[2026-08-02 17:48:06.676] [info] Received new action goal ×2 + 8.09sINFOros2_control_node[2026-08-02 17:48:06.676] [info] Accepted new action goal ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327713 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327713 ms (missed cycles : 2).[0m ×2 + 8.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.887026 ms (missed cycles : 6). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.887026 ms (missed cycles : 6).[0m ×2 + 10.78sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 10.78sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 10.79sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 10.79sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 10.80sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 10.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 10.89sINFOobjective_server_nodeFound path in 1 iterations (0.00428993 s). ×2 + 11.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.08sINFOros2_control_node[2026-08-02 17:48:09.665] [info] Received new action goal ×2 + 11.08sINFOros2_control_node[2026-08-02 17:48:09.665] [info] Accepted new action goal ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294601 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294601 ms (missed cycles : 3).[0m ×2 + 11.52sINFOros2_control_node[2026-08-02 17:48:10.106] [info] Received new action goal ×2 + 11.52sINFOros2_control_node[2026-08-02 17:48:10.106] [info] Accepted new action goal ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200025 ms (missed cycles : 4). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200025 ms (missed cycles : 4).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166792 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166792 ms (missed cycles : 2).[0m ×2 + 13.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.95sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.95sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785692892.55262613 seconds ×3 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480153 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480153 ms (missed cycles : 2).[0m ×2 + 14.79sWARNros2_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 + 14.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785692893.41112089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (5.92e-07 s). ×2 + 15.01sINFOros2_control_node[2026-08-02 17:48:13.595] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-08-02 17:48:13.595] [info] Accepted new action goal ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174908 ms (missed cycles : 5). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174908 ms (missed cycles : 5).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257486 ms (missed cycles : 5). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257486 ms (missed cycles : 5).[0m ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	11.1s	3 errors · 63 warnings · 143 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014836 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014836 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130600 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130600 ms (missed cycles : 3).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841446 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841446 ms (missed cycles : 5).[0m ×2 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785693024.84985280 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670675 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670675 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785693025.55245447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (5.92e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-02 17:50:25.786] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-02 17:50:25.786] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000485 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000485 ms (missed cycles : 5).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463079 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463079 ms (missed cycles : 4).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887876 ms (missed cycles : 4). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887876 ms (missed cycles : 4).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754102 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754102 ms (missed cycles : 2).[0m ×2 + 8.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.04sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 1 iterations (0.00332961 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.54sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.55sINFOros2_control_node[2026-08-02 17:50:30.280] [info] Received new action goal ×2 + 8.55sINFOros2_control_node[2026-08-02 17:50:30.280] [info] Accepted new action goal ×2 + 8.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.325918 ms (missed cycles : 7). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.325918 ms (missed cycles : 7).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716138 ms (missed cycles : 3). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716138 ms (missed cycles : 3).[0m ×2 + 11.03sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 11.03sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 12.94sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.96sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 12.96sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 14.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 14.22sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 14.23sERRORobjective_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: 1785693035.95728111 seconds ×3 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 15.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.13sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 15.13sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 15.43sWARNros2_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 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 17.04sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.0s	3 errors · 71 warnings · 181 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683795 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683795 ms (missed cycles : 4).[0m ×2 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191768 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191768 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449475 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449475 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003326 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003326 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785693057.47248125 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.07sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785693058.12117743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.03e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-08-02 17:50:58.256] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-02 17:50:58.256] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284579 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284579 ms (missed cycles : 5).[0m ×2 + 4.91sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373717 ms (missed cycles : 4).[0m ×2 + 6.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600748 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600748 ms (missed cycles : 6).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183483 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183483 ms (missed cycles : 3).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910962 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910962 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816133 ms (missed cycles : 5). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816133 ms (missed cycles : 5).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900898 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900898 ms (missed cycles : 3).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 14.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sERRORobjective_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: 1785693068.44144964 seconds ×3 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 15.00sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 15.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 15.67sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 15.67sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.69sINFOobjective_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 + 15.69sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 16.29sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.40sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 16.40sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.42sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 16.42sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[0m ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.9s	9 errors · 60 warnings · 152 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443676 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443676 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077939 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077939 ms (missed cycles : 2).[0m ×2 + 7.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.48sINFOobjective_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 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.78sINFOobjective_server_nodeFound path in 0 iterations (8.21e-07 s). ×2 + 7.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 1 iterations (0.00321494 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 1 iterations (0.00476592 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X___________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.64sINFOros2_control_node[2026-08-02 17:47:56.465] [info] Received new action goal ×2 + 8.64sINFOros2_control_node[2026-08-02 17:47:56.465] [info] Accepted new action goal ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339488 ms (missed cycles : 4). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339488 ms (missed cycles : 4).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829455 ms (missed cycles : 6). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.829455 ms (missed cycles : 6).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235997 ms (missed cycles : 4). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.235997 ms (missed cycles : 4).[0m ×2 + 11.07sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.13sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.35sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.35sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.36sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785692879.19035840 seconds ×3 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105281 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105281 ms (missed cycles : 2).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630542 ms (missed cycles : 4). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630542 ms (missed cycles : 4).[0m ×2 + 13.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880059 ms (missed cycles : 5). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880059 ms (missed cycles : 5).[0m ×2 + 14.24sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785692882.05900955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 14.44sINFOros2_control_node[2026-08-02 17:48:02.263] [info] Received new action goal ×2 + 14.44sINFOros2_control_node[2026-08-02 17:48:02.263] [info] Accepted new action goal ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871086 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871086 ms (missed cycles : 3).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912880 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912880 ms (missed cycles : 2).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639105 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639105 ms (missed cycles : 2).[0m ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	10.9s	3 errors · 57 warnings · 165 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3).[0m ×2 + 0.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Accepted new action goal ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785692858.78569341 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785692859.40160298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785692859.48172474 seconds ×3 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785692860.12907505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6).[0m ×2 + 6.34sWARNros2_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 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617679 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617679 ms (missed cycles : 3).[0m ×2 + 6.72sINFOobjective_server_nodeFound path in 0 iterations (4.35e-07 s). ×2 + 6.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.73sINFOros2_control_node[2026-08-02 17:47:43.603] [info] Received new action goal ×2 + 6.73sINFOros2_control_node[2026-08-02 17:47:43.603] [info] Accepted new action goal ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362484 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362484 ms (missed cycles : 4).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390549 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390549 ms (missed cycles : 2).[0m ×2 + 9.05sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 9.06sINFOros2_control_node[2026-08-02 17:47:45.940] [info] Received new action goal ×2 + 9.06sINFOros2_control_node[2026-08-02 17:47:45.940] [info] Accepted new action goal ×2 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472266 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472266 ms (missed cycles : 2).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 11.42sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 11.42sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 12.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 13.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.56sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 13.56sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 13.57sERRORobjective_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: 1785692870.45165706 seconds ×3 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 14.22sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 14.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.41sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 14.41sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	10.9s	6 errors · 66 warnings · 105 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773935 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773935 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683530 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683530 ms (missed cycles : 3).[0m ×2 + 9.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526366 ms (missed cycles : 4). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526366 ms (missed cycles : 4).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732708 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732708 ms (missed cycles : 3).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583420 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583420 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162206 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162206 ms (missed cycles : 2).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934294 ms (missed cycles : 5). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934294 ms (missed cycles : 5).[0m ×2 + 14.19sERRORobjective_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: 1785693046.94428778 seconds ×3 + 14.79sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. ×3 + 14.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785693047.54691792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148109 ms (missed cycles : 4). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148109 ms (missed cycles : 4).[0m ×2 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.11sINFOros2_control_node[2026-08-02 17:50:47.866] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-08-02 17:50:47.866] [info] Accepted new action goal ×2 + 15.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367483 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367483 ms (missed cycles : 3).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807618 ms (missed cycles : 2). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807618 ms (missed cycles : 2).[0m ×2
✓ passed	Stationary Admittance	stationary_admittance.xml	10.7s	6 errors · 67 warnings · 277 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 1.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.67sERRORobjective_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: 1785693068.44144964 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 2.28sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 2.95sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 2.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.70sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[0m ×2 + 4.48sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924670 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924670 ms (missed cycles : 5).[0m ×2 + 7.02sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.03sINFOros2_control_node[2026-08-02 17:51:13.797] [info] Received new action goal ×2 + 7.03sINFOros2_control_node[2026-08-02 17:51:13.797] [info] Accepted new action goal ×2 + 7.03sINFOros2_control_node[2026-08-02 17:51:13.797] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.602771 ms (missed cycles : 9). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.602771 ms (missed cycles : 9).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195002 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195002 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952231 ms (missed cycles : 6). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952231 ms (missed cycles : 6).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372007 ms (missed cycles : 4). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372007 ms (missed cycles : 4).[0m ×2 + 10.71sWARNros2_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 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5).[0m ×2 + 13.67sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Got request to cancel active goal. ×2 + 13.67sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Canceling active goal... ×2 + 13.68sERRORobjective_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: 1785693080.44829273 seconds ×3 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7).[0m ×2 + 14.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693081.05362153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785693081.59021997 seconds ×3 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5).[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785693082.18026304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.41sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.41sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.41sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.41sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785693082.18211484 seconds ×3 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5).[0m ×2 + 16.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785693082.83382607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.06sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785693082.83430433 seconds ×3 + 16.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785693083.42463708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5).[0m ×2
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.5s	3 errors · 63 warnings · 93 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732708 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732708 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583420 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583420 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162206 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162206 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934294 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934294 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_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 + 3.54sERRORobjective_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: 1785693046.94428778 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.14sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. ×3 + 4.14sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785693047.54691792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148109 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148109 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.46sINFOros2_control_node[2026-08-02 17:50:47.866] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-02 17:50:47.866] [info] Accepted new action goal ×2 + 4.86sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367483 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367483 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807618 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807618 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449694 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449694 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111748 ms (missed cycles : 4). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111748 ms (missed cycles : 4).[0m ×2 + 8.48sINFOros2_control_node[2026-08-02 17:50:51.885] [info] Received new action goal ×2 + 8.48sINFOros2_control_node[2026-08-02 17:50:51.885] [info] Accepted new action goal ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727217 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727217 ms (missed cycles : 4).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683795 ms (missed cycles : 4). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683795 ms (missed cycles : 4).[0m ×2 + 10.88sWARNros2_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 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191768 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191768 ms (missed cycles : 3).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449475 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449475 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003326 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003326 ms (missed cycles : 4).[0m ×2 + 14.07sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785693057.47248125 seconds ×3 + 14.71sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785693058.12117743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.84sINFOobjective_server_nodeFound path in 0 iterations (5.03e-07 s). ×2 + 14.84sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.85sINFOros2_control_node[2026-08-02 17:50:58.256] [info] Received new action goal ×2 + 14.85sINFOros2_control_node[2026-08-02 17:50:58.256] [info] Accepted new action goal ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284579 ms (missed cycles : 5). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284579 ms (missed cycles : 5).[0m ×2 + 15.55sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373717 ms (missed cycles : 4). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373717 ms (missed cycles : 4).[0m ×2 + 16.76sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600748 ms (missed cycles : 6). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600748 ms (missed cycles : 6).[0m ×2
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	5.4s	40 warnings · 124 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785692906.14041901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.34sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785692908.28055859 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741604 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741604 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785692909.87463403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_node[2026-08-02 17:48:30.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518361 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518361 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_node[0;93m2026-08-02 17:48:31.091697187 [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 + 5.16sINFOobjective_server_node[0;93m2026-08-02 17:48:31.091724683 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.36sINFOobjective_server_node[2026-08-02 17:48:31.294] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3).[0m ×2 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.87sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810079212 [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 + 5.87sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810110021 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.01sINFOobjective_server_node[2026-08-02 17:48:31.943] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.06sINFOobjective_server_node[0;93m2026-08-02 17:48:32.000133278 [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 + 6.07sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004602054 [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 + 6.07sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004638087 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.10sINFOobjective_server_node[2026-08-02 17:48:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_node[0;93m2026-08-02 17:48:32.590854723 [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 + 6.69sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625258239 [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 + 6.69sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625296847 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3).[0m ×2 + 8.75sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785692914.68412447 seconds ×3 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4).[0m ×2 + 9.45sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785692915.39011717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 9.54sINFOobjective_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 + 9.55sINFOobjective_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 + 9.83sINFOobjective_server_nodeFound path in 0 iterations (8.976e-06 s). ×2 + 9.84sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2).[0m ×2 + 9.89sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Accepted new action goal ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4).[0m ×2 + 11.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4).[0m ×2
✓ passed	Look at Table	look_at_table.xml	3.9s	34 warnings · 156 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270641 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270641 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595262 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595262 ms (missed cycles : 4).[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785692904.69218111 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362092 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362092 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785692905.28443193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.47sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785692905.35462165 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785692906.14041901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.40sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Received new action goal ×2 + 3.40sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785692908.28055859 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741604 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741604 ms (missed cycles : 2).[0m ×2 + 7.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785692909.87463403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.47sINFOobjective_server_node[2026-08-02 17:48:30.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518361 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518361 ms (missed cycles : 2).[0m ×2 + 8.22sINFOobjective_server_node[0;93m2026-08-02 17:48:31.091697187 [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 + 8.22sINFOobjective_server_node[0;93m2026-08-02 17:48:31.091724683 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.42sINFOobjective_server_node[2026-08-02 17:48:31.294] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3).[0m ×2 + 8.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 8.93sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810079212 [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 + 8.93sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810110021 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.07sINFOobjective_server_node[2026-08-02 17:48:31.943] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.12sINFOobjective_server_node[0;93m2026-08-02 17:48:32.000133278 [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 + 9.13sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004602054 [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 + 9.13sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004638087 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.16sINFOobjective_server_node[2026-08-02 17:48:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2).[0m ×2 + 9.72sINFOobjective_server_node[0;93m2026-08-02 17:48:32.590854723 [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 + 9.75sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625258239 [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 + 9.75sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625296847 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2
✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	3.7s	21 errors · 32 warnings · 227 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818250 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818250 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012594 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012594 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940479 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940479 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785692970.03027892 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444777 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444777 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692970.69121003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.59sINFOros2_control_node[2026-08-02 17:49:30.854] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-08-02 17:49:30.854] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521279 ms (missed cycles : 6). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521279 ms (missed cycles : 6).[0m ×2 + 4.85sINFOobjective_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 + 4.86sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 5.25sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246047 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246047 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191499 ms (missed cycles : 5). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191499 ms (missed cycles : 5).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692973.70101595 seconds ×3 + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692974.33333397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOobjective_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 + 7.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 7.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 7.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 7.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.21sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 7.22sINFOros2_control_node[2026-08-02 17:49:34.488] [info] Received new action goal ×2 + 7.22sINFOros2_control_node[2026-08-02 17:49:34.488] [info] Accepted new action goal ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050291 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050291 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821883 ms (missed cycles : 4). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821883 ms (missed cycles : 4).[0m ×2 + 8.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692976.08606195 seconds ×3 + 9.45sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785692976.71525407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701614 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701614 ms (missed cycles : 4).[0m ×2 + 9.61sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 9.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 9.62sINFOros2_control_node[2026-08-02 17:49:36.889] [info] Received new action goal ×2 + 9.62sINFOros2_control_node[2026-08-02 17:49:36.889] [info] Accepted new action goal ×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	2.4s	21 errors · 31 warnings · 199 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444777 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444777 ms (missed cycles : 4).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692970.69121003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.38sINFOros2_control_node[2026-08-02 17:49:30.854] [info] Received new action goal ×2 + 0.38sINFOros2_control_node[2026-08-02 17:49:30.854] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521279 ms (missed cycles : 6). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521279 ms (missed cycles : 6).[0m ×2 + 1.65sINFOobjective_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 + 1.66sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 1.70sINFOobjective_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 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 1.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.71sWARNros2_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 + 2.04sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.05sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246047 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246047 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191499 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191499 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692973.70101595 seconds ×3 + 3.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692974.33333397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.02sINFOros2_control_node[2026-08-02 17:49:34.488] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-02 17:49:34.488] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050291 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050291 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821883 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821883 ms (missed cycles : 4).[0m ×2 + 5.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692976.08606195 seconds ×3 + 6.24sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785692976.71525407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701614 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701614 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.42sINFOros2_control_node[2026-08-02 17:49:36.889] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-08-02 17:49:36.889] [info] Accepted new action goal ×2 + 6.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858240 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858240 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494783 ms (missed cycles : 5). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494783 ms (missed cycles : 5).[0m ×2
✓ passed	Close Gripper	close_gripper.xml	1.6s	27 warnings · 566 info
+ 0.00sINFOobjective_server_node[2026-08-02 17:46:47.774] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.15sINFOobjective_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 + 0.15sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.16sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.16sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.69sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.69sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.05sINFOcomponent_container_mt[2026-08-02 17:46:48.822] [moveit_pro_license] [info] ×2 + 1.05sINFOcomponent_container_mt************************************************* ×4 + 1.05sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.05sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.15sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 1.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 1.15sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 1.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 1.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 1.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 1.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 1.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 1.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 1.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 1.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 1.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 1.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 1.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 1.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.40sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.43sINFOros2_control_node[2026-08-02 17:46:49.199] [info] Controller state will be published at 20 Hz. ×2 + 1.43sINFOros2_control_node[2026-08-02 17:46:49.200] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.46sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.64sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.70sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.70sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.71sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.71sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.74sINFOros2-8process has finished cleanly [pid 10205] ×2 + 1.75sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.75sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.75sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.75sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 1.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4).[0m ×2 + 1.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.08sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.08sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.08sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 2.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 2.11sINFOros2-3process has finished cleanly [pid 10200] ×2 + 2.15sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.15sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.15sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.15sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.16sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.17sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.17sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.50sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.50sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.50sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.50sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 2.50sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 2.50sINFOros2-4process has finished cleanly [pid 10201] ×2 + 2.54sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.54sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.54sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.54sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.55sINFOforce_torque_sensor_broadcasterconfigure successful + 2.55sINFOros2_control_nodeconfigure successful[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.55sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.56sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.56sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.90sINFOros2-2process has finished cleanly [pid 10199] ×2 + 2.90sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.90sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 2.91sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.91sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.91sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.98sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 2.98sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 3.00sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.00sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.00sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.00sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.03sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 + 3.03sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 + 3.09sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.29sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.29sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.29sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.29sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.34sINFOros2-6process has finished cleanly [pid 10203] ×2 + 3.35sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 3.35sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 3.40sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.40sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 + 3.43sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 + 3.43sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.78sINFOros2-7process has finished cleanly [pid 10204] ×2 + 3.79sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.79sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.79sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.79sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.79sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 3.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 3.83sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.83sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.83sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.83sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.84sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.84sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.84sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.18sINFOros2-5process has finished cleanly [pid 10202] ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 6.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 6.57sWARNros2_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 + 6.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 7.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 8.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.18sINFOobjective_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 + 8.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.31sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 8.31sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	3 errors · 31 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372007 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372007 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5).[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Canceling active goal... ×2 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785693080.44829273 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693081.05362153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785693081.59021997 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785693082.18026304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.74sINFOobjective_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 + 4.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785693082.18211484 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785693082.83382607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785693082.83430433 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785693083.42463708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5).[0m ×2 + 6.86sWARNros2_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 + 7.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785693084.65478969 seconds ×3 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757230 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757230 ms (missed cycles : 2).[0m ×2 + 7.26sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.7s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709383 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.80sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Accepted new action goal ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 + 2.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Canceling active goal... ×2 + 2.69sERRORobjective_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: 1785692826.56478143 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692827.16339564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692827.27352118 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692827.90185809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	26 warnings · 87 info
+ 0.00sINFOros2_control_node[2026-08-02 17:47:35.488] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:47:35.488] [info] Accepted new action goal ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187772 ms (missed cycles : 5). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.187772 ms (missed cycles : 5).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3).[0m ×2 + 1.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Accepted new action goal ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785692858.78569341 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785692859.40160298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785692859.48172474 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785692860.12907505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.77sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.7s	26 warnings · 470 info
+ 0.00sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 10205] ×2 + 0.11sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.11sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.11sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.11sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4).[0m ×2 + 0.12sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.12sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 10200] ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.53sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.53sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.85sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.86sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.86sINFOros2-4process has finished cleanly [pid 10201] ×2 + 0.90sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.90sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.91sINFOforce_torque_sensor_broadcasterconfigure successful + 0.91sINFOros2_control_nodeconfigure successful[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.91sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 10199] ×2 + 1.26sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.26sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 1.26sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.34sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.36sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.38sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 + 1.45sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.65sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.65sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.70sINFOros2-6process has finished cleanly [pid 10203] ×2 + 1.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.76sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.76sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 + 1.79sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.14sINFOros2-7process has finished cleanly [pid 10204] ×2 + 2.14sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.15sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 2.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 2.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.22sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.54sINFOros2-5process has finished cleanly [pid 10202] ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 4.93sWARNros2_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 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_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 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.67sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	3 errors · 34 warnings · 134 info
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_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: 1785693068.44144964 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 3.86sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 4.53sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[0m ×2 + 6.06sWARNros2_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 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3).[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 5.039455 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039455 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270641 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270641 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595262 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595262 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785692904.69218111 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362092 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362092 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785692905.28443193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.60sWARNros2_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 + 3.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785692905.35462165 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785692906.14041901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2).[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785692908.28055859 seconds ×3
✓ passed	Visualize Grasp Link	visualize_grasp_link.xml	0.7s	3 errors · 26 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5).[0m ×2 + 0.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Got request to cancel active goal. ×2 + 0.93sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Canceling active goal... ×2 + 0.93sERRORobjective_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: 1785693080.44829273 seconds ×3 + 0.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7).[0m ×2 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693081.05362153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785693081.59021997 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785693082.18026304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.66sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.66sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.66sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785693082.18211484 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785693082.83382607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785693082.83430433 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785693083.42463708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5).[0m ×2 + 4.78sWARNros2_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 + 5.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785693084.65478969 seconds ×3 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757230 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757230 ms (missed cycles : 2).[0m ×2 + 5.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362315 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.362315 ms (missed cycles : 4).[0m ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 errors · 32 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sERRORobjective_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: 1785693068.44144964 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.70sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 3.30sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 3.96sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 3.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_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 + 3.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.71sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[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 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3).[0m ×2
✓ passed	Vector and String Example	vector_and_string_example.xml	0.6s	3 errors · 26 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5).[0m ×2 + 1.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Got request to cancel active goal. ×2 + 1.96sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Canceling active goal... ×2 + 1.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785693080.44829273 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693081.05362153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785693081.59021997 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785693082.18026304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.69sINFOobjective_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 + 3.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785693082.18211484 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785693082.83382607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785693082.83430433 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785693083.42463708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5).[0m ×2 + 5.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785693084.65478969 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757230 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757230 ms (missed cycles : 2).[0m ×2 + 6.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	23 warnings · 83 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3).[0m ×2 + 0.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Accepted new action goal ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785692858.78569341 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785692859.40160298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785692859.48172474 seconds ×3 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785692860.12907505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6).[0m ×2
− skipped	AddCollisionBoxInFrontOfEndEffector	addcollisionboxinfrontofendeffector.xml	0.0s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2).[0m ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.48sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2).[0m ×2 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Got request to cancel active goal. ×2 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Canceling active goal... ×2 + 1.39sERRORobjective_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: 1785692826.56478143 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692827.16339564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692827.27352118 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692827.90185809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3).[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3).[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 2.709383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709383 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.80sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Accepted new action goal ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 + 2.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Canceling active goal... ×2 + 2.69sERRORobjective_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: 1785692826.56478143 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692827.16339564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692827.27352118 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692827.90185809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3).[0m ×2
− skipped	AddCollisionObjectToPlanningScene	addcollisionobjecttoplanningscene.xml	0.0s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2).[0m ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.48sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2).[0m ×2 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Got request to cancel active goal. ×2 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Canceling active goal... ×2 + 1.39sERRORobjective_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: 1785692826.56478143 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692827.16339564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692827.27352118 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692827.90185809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3).[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3).[0m ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	23 warnings · 83 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3).[0m ×2 + 0.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Accepted new action goal ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785692858.78569341 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785692859.40160298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785692859.48172474 seconds ×3 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785692860.12907505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6).[0m ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	23 warnings · 83 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3).[0m ×2 + 0.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Accepted new action goal ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785692858.78569341 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785692859.40160298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785692859.48172474 seconds ×3 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785692860.12907505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6).[0m ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	23 warnings · 83 info
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824730 ms (missed cycles : 3).[0m ×2 + 0.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 0.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Received new action goal ×2 + 0.53sINFOros2_control_node[2026-08-02 17:47:37.403] [info] Accepted new action goal ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.567627 ms (missed cycles : 5).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785692858.78569341 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974302 ms (missed cycles : 3).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785692859.40160298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785692859.48172474 seconds ×3 + 3.25sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785692860.12907505 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-08-02 17:47:40.253] [info] Accepted new action goal ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293186 ms (missed cycles : 4).[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622233 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.469959 ms (missed cycles : 6).[0m ×2
− skipped	Force Relaxation	force_relaxation.xml	0.0s	3 errors · 20 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 20 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 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 · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 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 · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	25 warnings · 73 info
+ 0.00sINFOobjective_server_node[2026-08-02 17:48:31.294] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3).[0m ×2 + 0.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810079212 [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 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810110021 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.65sINFOobjective_server_node[2026-08-02 17:48:31.943] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.000133278 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004602054 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004638087 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-02 17:48:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-02 17:48:32.590854723 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625258239 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625296847 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785692914.68412447 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785692915.39011717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_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 + 4.20sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (8.976e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4).[0m ×2 + 6.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	20 warnings · 48 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014836 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014836 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130600 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130600 ms (missed cycles : 3).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841446 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841446 ms (missed cycles : 5).[0m ×2 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785693024.84985280 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670675 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670675 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785693025.55245447 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 (5.92e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-02 17:50:25.786] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-02 17:50:25.786] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000485 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000485 ms (missed cycles : 5).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463079 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463079 ms (missed cycles : 4).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	3 errors · 29 warnings · 63 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	3 errors · 29 warnings · 63 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	3 errors · 29 warnings · 63 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
− skipped	Place Object	place_object.xml	0.0s	3 errors · 29 warnings · 63 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 31 warnings · 134 info
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_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: 1785693068.44144964 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 3.86sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 4.53sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[0m ×2 + 6.06sWARNros2_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
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 errors · 29 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 1.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sERRORobjective_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: 1785693068.44144964 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 2.28sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 2.95sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 2.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.70sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[0m ×2 + 4.48sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3).[0m ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 26 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372007 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372007 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5).[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Canceling active goal... ×2 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785693080.44829273 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693081.05362153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785693081.59021997 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785693082.18026304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.74sINFOobjective_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 + 4.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785693082.18211484 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785693082.83382607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785693082.83430433 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785693083.42463708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5).[0m ×2
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 26 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372007 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372007 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244716 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.989199 ms (missed cycles : 5).[0m ×2 + 3.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-08-02 17:51:20.442] [info] Canceling active goal... ×2 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785693080.44829273 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157909 ms (missed cycles : 7).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785693081.05362153 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785693081.59021997 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.174330 ms (missed cycles : 5).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785693082.18026304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.74sINFOobjective_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 + 4.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785693082.18211484 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065879 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785693082.83382607 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785693082.83430433 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785693083.42463708 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811038 ms (missed cycles : 5).[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 2.709383 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709383 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2).[0m ×2 + 1.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.80sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Received new action goal ×2 + 1.80sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Accepted new action goal ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 + 2.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Got request to cancel active goal. ×2 + 2.67sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Canceling active goal... ×2 + 2.69sERRORobjective_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: 1785692826.56478143 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692827.16339564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692827.27352118 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692827.90185809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3).[0m ×2
− skipped	Add Waypoints to MTC Task	add_waypoints_to_mtc_task.xml	0.0s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2).[0m ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.48sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2).[0m ×2 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Got request to cancel active goal. ×2 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Canceling active goal... ×2 + 1.39sERRORobjective_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: 1785692826.56478143 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692827.16339564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692827.27352118 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692827.90185809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3).[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3).[0m ×2
− skipped	AddBottlesToPlanningScene	addbottlestoplanningscene.xml	0.0s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326222 ms (missed cycles : 2).[0m ×2 + 0.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.48sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-08-02 17:47:05.672] [info] Accepted new action goal ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019618 ms (missed cycles : 2).[0m ×2 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Got request to cancel active goal. ×2 + 1.37sINFOros2_control_node[2026-08-02 17:47:06.538] [info] Canceling active goal... ×2 + 1.39sERRORobjective_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: 1785692826.56478143 seconds ×3 + 1.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692827.16339564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692827.27352118 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822482 ms (missed cycles : 5).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692827.90185809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.92sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 2.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Received new action goal ×2 + 2.92sINFOros2_control_node[2026-08-02 17:47:08.095] [info] Accepted new action goal ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881389 ms (missed cycles : 3).[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884895 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691407 ms (missed cycles : 3).[0m ×2
− skipped	ErrorCheckVectorSize	errorcheckvectorsize.xml	0.0s	3 errors · 20 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
− skipped	Fan Pose About Tool-Z Subtree	fan_pose_about_tool_z_subtree.xml	0.0s	3 errors · 20 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 20 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 20 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 20 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 20 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 20 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056925 ms (missed cycles : 2).[0m ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 0.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-08-02 17:47:48.300] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090469 ms (missed cycles : 4).[0m ×2 + 1.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043299 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Got request to cancel active goal. ×2 + 2.62sINFOros2_control_node[2026-08-02 17:47:50.439] [info] Canceling active goal... ×2 + 2.63sERRORobjective_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: 1785692870.45165706 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257688 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692871.09845161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 3.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-08-02 17:47:51.292] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082561 ms (missed cycles : 4).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217745 ms (missed cycles : 2).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 20 warnings · 78 info
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 0.08sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.11sINFOobjective_server_nodeFound path in 1 iterations (0.00428993 s). ×2 + 0.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.30sINFOros2_control_node[2026-08-02 17:48:09.665] [info] Received new action goal ×2 + 0.30sINFOros2_control_node[2026-08-02 17:48:09.665] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294601 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294601 ms (missed cycles : 3).[0m ×2 + 0.74sINFOros2_control_node[2026-08-02 17:48:10.106] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-08-02 17:48:10.106] [info] Accepted new action goal ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200025 ms (missed cycles : 4). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200025 ms (missed cycles : 4).[0m ×2 + 2.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166792 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166792 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.17sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.17sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sERRORobjective_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: 1785692892.55262613 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480153 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480153 ms (missed cycles : 2).[0m ×2 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785692893.41112089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (5.92e-07 s). ×2 + 4.23sINFOros2_control_node[2026-08-02 17:48:13.595] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-08-02 17:48:13.595] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174908 ms (missed cycles : 5). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.174908 ms (missed cycles : 5).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257486 ms (missed cycles : 5). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257486 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 5.039455 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039455 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270641 ms (missed cycles : 5). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.270641 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595262 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595262 ms (missed cycles : 4).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785692904.69218111 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362092 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362092 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785692905.28443193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.60sWARNros2_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 + 3.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785692905.35462165 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785692906.14041901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2).[0m ×2
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	23 warnings · 73 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669614 ms (missed cycles : 2).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785692906.14041901 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.34sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-08-02 17:48:26.274] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.961292 ms (missed cycles : 5).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928791 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785692908.28055859 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741604 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741604 ms (missed cycles : 2).[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785692909.87463403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_node[2026-08-02 17:48:30.348] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518361 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518361 ms (missed cycles : 2).[0m ×2 + 5.16sINFOobjective_server_node[0;93m2026-08-02 17:48:31.091697187 [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 + 5.16sINFOobjective_server_node[0;93m2026-08-02 17:48:31.091724683 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.36sINFOobjective_server_node[2026-08-02 17:48:31.294] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3).[0m ×2 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.87sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810079212 [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 + 5.87sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810110021 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.01sINFOobjective_server_node[2026-08-02 17:48:31.943] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.06sINFOobjective_server_node[0;93m2026-08-02 17:48:32.000133278 [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 + 6.07sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004602054 [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 + 6.07sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004638087 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.10sINFOobjective_server_node[2026-08-02 17:48:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_node[0;93m2026-08-02 17:48:32.590854723 [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 + 6.69sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625258239 [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 + 6.69sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625296847 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	25 warnings · 73 info
+ 0.00sINFOobjective_server_node[2026-08-02 17:48:31.294] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3).[0m ×2 + 0.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810079212 [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 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810110021 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.65sINFOobjective_server_node[2026-08-02 17:48:31.943] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.000133278 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004602054 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004638087 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-02 17:48:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-02 17:48:32.590854723 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625258239 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625296847 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785692914.68412447 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785692915.39011717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_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 + 4.20sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (8.976e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4).[0m ×2 + 6.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	25 warnings · 73 info
+ 0.00sINFOobjective_server_node[2026-08-02 17:48:31.294] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3).[0m ×2 + 0.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810079212 [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 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810110021 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.65sINFOobjective_server_node[2026-08-02 17:48:31.943] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.000133278 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004602054 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004638087 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-02 17:48:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-02 17:48:32.590854723 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625258239 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625296847 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785692914.68412447 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785692915.39011717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_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 + 4.20sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (8.976e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4).[0m ×2 + 6.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4).[0m ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	25 warnings · 73 info
+ 0.00sINFOobjective_server_node[2026-08-02 17:48:31.294] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3).[0m ×2 + 0.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810079212 [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 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810110021 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.65sINFOobjective_server_node[2026-08-02 17:48:31.943] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.000133278 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004602054 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004638087 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-02 17:48:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-02 17:48:32.590854723 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625258239 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625296847 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785692914.68412447 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785692915.39011717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_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 + 4.20sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (8.976e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4).[0m ×2 + 6.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4).[0m ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	25 warnings · 73 info
+ 0.00sINFOobjective_server_node[2026-08-02 17:48:31.294] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765834 ms (missed cycles : 3).[0m ×2 + 0.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810079212 [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 + 0.52sINFOobjective_server_node[0;93m2026-08-02 17:48:31.810110021 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.65sINFOobjective_server_node[2026-08-02 17:48:31.943] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.000133278 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004602054 [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 + 0.71sINFOobjective_server_node[0;93m2026-08-02 17:48:32.004638087 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-02 17:48:32.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877051 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-02 17:48:32.590854723 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625258239 [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 + 1.33sINFOobjective_server_node[0;93m2026-08-02 17:48:32.625296847 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361210 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785692914.68412447 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664167 ms (missed cycles : 4).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785692915.39011717 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.19sINFOobjective_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 + 4.20sINFOobjective_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 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (8.976e-06 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962107 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-02 17:48:35.827] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391382 ms (missed cycles : 4).[0m ×2 + 6.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596473 ms (missed cycles : 4).[0m ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	15 errors · 20 warnings · 90 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818250 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818250 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012594 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012594 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940479 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940479 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785692970.03027892 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444777 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.444777 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692970.69121003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.59sINFOros2_control_node[2026-08-02 17:49:30.854] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-08-02 17:49:30.854] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521279 ms (missed cycles : 6). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521279 ms (missed cycles : 6).[0m ×2 + 4.85sINFOobjective_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 + 4.86sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.91sINFOobjective_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 + 4.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×15 + 5.25sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246047 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246047 ms (missed cycles : 5).[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	18 errors · 20 warnings · 157 info
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191499 ms (missed cycles : 5). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.191499 ms (missed cycles : 5).[0m ×2 + 0.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692973.70101595 seconds ×3 + 0.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 0.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 0.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692974.33333397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_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 + 1.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.75sINFOros2_control_node[2026-08-02 17:49:34.488] [info] Received new action goal ×2 + 1.75sINFOros2_control_node[2026-08-02 17:49:34.488] [info] Accepted new action goal ×2 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050291 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050291 ms (missed cycles : 2).[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821883 ms (missed cycles : 4). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821883 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_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 + 3.07sINFOobjective_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 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692976.08606195 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785692976.71525407 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701614 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701614 ms (missed cycles : 4).[0m ×2 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (4.36e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sINFOros2_control_node[2026-08-02 17:49:36.889] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-02 17:49:36.889] [info] Accepted new action goal ×2 + 4.47sWARNros2_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 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858240 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858240 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494783 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.494783 ms (missed cycles : 5).[0m ×2
− skipped	Octomap Example	octomap_example.xml	0.0s	3 errors · 20 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217493 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217493 ms (missed cycles : 4).[0m ×2 + 0.42sWARNros2_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266101 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.266101 ms (missed cycles : 5).[0m ×2 + 2.15sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735831 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.735831 ms (missed cycles : 5).[0m ×2 + 2.49sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 2.49sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785692992.23089147 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785692992.93966198 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415911 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415911 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_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 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOobjective_server_nodeFound path in 5 iterations (0.00567128 s). ×2 + 3.45sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 3.48sINFOros2_control_node[2026-08-02 17:49:53.220] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-08-02 17:49:53.220] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622451 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622451 ms (missed cycles : 4).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175614 ms (missed cycles : 6). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.175614 ms (missed cycles : 6).[0m ×2
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	20 warnings · 48 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014836 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014836 ms (missed cycles : 4).[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130600 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130600 ms (missed cycles : 3).[0m ×2 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841446 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.841446 ms (missed cycles : 5).[0m ×2 + 2.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785693024.84985280 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670675 ms (missed cycles : 4). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670675 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785693025.55245447 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 (5.92e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-02 17:50:25.786] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-02 17:50:25.786] [info] Accepted new action goal ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000485 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000485 ms (missed cycles : 5).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463079 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463079 ms (missed cycles : 4).[0m ×2
− skipped	Pick object	pick_object.xml	0.0s	3 errors · 29 warnings · 63 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
− skipped	Pick up Object	pick_up_cube.xml	0.0s	3 errors · 29 warnings · 63 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	3 errors · 29 warnings · 63 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	3 errors · 29 warnings · 63 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	3 errors · 29 warnings · 63 info
+ 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-02 17:50:32.752] [info] Accepted new action goal ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008882 ms (missed cycles : 4).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349487 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.92sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-02 17:50:34.686] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802010 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-08-02 17:50:35.942] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1785693035.95728111 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905294 ms (missed cycles : 4).[0m ×2 + 3.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785693036.67385554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-02 17:50:36.858] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984692 ms (missed cycles : 3).[0m ×2 + 4.41sWARNros2_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 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.208698 ms (missed cycles : 3).[0m ×2 + 6.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.333082 ms (missed cycles : 5).[0m ×2
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 26 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732708 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732708 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583420 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583420 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162206 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162206 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934294 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934294 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_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 + 3.54sERRORobjective_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: 1785693046.94428778 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.14sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. ×3 + 4.14sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785693047.54691792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148109 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148109 ms (missed cycles : 4).[0m ×2 + 4.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.46sINFOros2_control_node[2026-08-02 17:50:47.866] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-02 17:50:47.866] [info] Accepted new action goal ×2 + 4.86sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367483 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.367483 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807618 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807618 ms (missed cycles : 2).[0m ×2
− skipped	Push Button With a Trajectory	push_button_with_a_trajectory.xml	0.0s	28 warnings · 47 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683795 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683795 ms (missed cycles : 4).[0m ×2 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191768 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191768 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449475 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449475 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003326 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.003326 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785693057.47248125 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785693058.12117743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (5.03e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.21sINFOros2_control_node[2026-08-02 17:50:58.256] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-02 17:50:58.256] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284579 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284579 ms (missed cycles : 5).[0m ×2 + 4.91sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373717 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373717 ms (missed cycles : 4).[0m ×2 + 6.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600748 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.600748 ms (missed cycles : 6).[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 31 warnings · 134 info
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_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: 1785693068.44144964 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 3.86sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 4.53sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[0m ×2 + 6.06sWARNros2_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
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 31 warnings · 134 info
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_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: 1785693068.44144964 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 3.86sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 4.53sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[0m ×2 + 6.06sWARNros2_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
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 31 warnings · 134 info
+ 0.00sWARNros2_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 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904015 ms (missed cycles : 4).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sERRORobjective_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: 1785693068.44144964 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 3.86sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 4.53sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_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 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[0m ×2 + 6.06sWARNros2_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
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	3 errors · 29 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527051 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908294 ms (missed cycles : 3).[0m ×2 + 1.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sERRORobjective_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: 1785693068.44144964 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697447 ms (missed cycles : 2).[0m ×2 + 2.28sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785693069.05175877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785693069.12187934 seconds ×3 + 2.95sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 2.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785693069.71816707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785693069.74079704 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.705737 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785693070.34271264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.99e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.70sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-08-02 17:51:10.466] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865564 ms (missed cycles : 5).[0m ×2 + 4.48sWARNros2_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 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623862 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 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	8.3s	53 errors · 376 warnings · 1684 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/2026-08-02-17-41-35-759984-0a1d5ee40f47-8941 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 2.05sINFOros2_control_node-1process started with pid [8989] + 2.05sINFOmove_group-9process started with pid [9026] + 2.05sINFOparameter_manager_node-10process started with pid [9027] + 2.05sINFOwaypoint_manager_node-11process started with pid [9028] + 2.05sINFOmove_joint_resampler_node-12process started with pid [9029] + 2.05sINFOmove_end_effector_resampler_node-13process started with pid [9030] + 2.05sINFOobjective_server_node_main-14process started with pid [9031] + 2.05sINFOcomponent_container_mt-15process started with pid [9032] + 2.05sINFOcomponent_container_mt-16process started with pid [9033] + 2.05sINFOexecute_objective_bridge-17process started with pid [9034] + 2.05sINFOui_teleop_bridge-18process started with pid [9035] + 2.06sINFOweb_bridge-19process started with pid [9036] + 2.06sINFOtf2_web_republisher_node-20process started with pid [9100] + 2.06sINFOvideo_server-21process started with pid [9101] + 2.06sINFOweb_bridge_auth_proxy-22process started with pid [9102] + 2.07sINFOweb_video_auth_proxy-23process started with pid [9103] + 2.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 2.08sINFOros2-2process started with pid [8990] + 2.10sINFOros2-3process started with pid [8991] + 2.10sINFOros2-4process started with pid [8992] + 2.10sINFOros2-5process started with pid [8993] + 2.10sINFOros2-6process started with pid [8994] + 2.10sINFOros2-7process started with pid [8995] + 2.10sINFOros2-8process started with pid [8996] + 2.15sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 2.15sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 2.15sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 2.15sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 2.15sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 2.15sWARNros2_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 ×3 + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092617 ms (missed cycles : 2).[0m + 2.15sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 2.15sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 2.15sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 2.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 2.26sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 2.51sINFOvideo_server2026/08/02 17:41:39 INF MediaMTX v1.19.3, linux, amd64 + 2.51sINFOvideo_server2026/08/02 17:41:39 INF configuration loaded from /tmp/moveit-webrtc-gb41tbn3/mediamtx.yml + 2.51sINFOvideo_server2026/08/02 17:41:39 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 2.51sINFOvideo_server2026/08/02 17:41:39 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570066 ms (missed cycles : 3).[0m + 3.12sINFOmove_group[2026-08-02 17:41:39.641] [moveit_pro_license] [info] + 3.12sINFOmove_group************************************************* ×6 + 3.12sINFOmove_group* MoveIt Pro License ×3 + 3.12sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.27sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 3.27sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 3.46sINFOwaypoint_manager_node[2026-08-02 17:41:39.966] [moveit_pro_license] [info] + 3.46sINFOwaypoint_manager_node************************************************* ×6 + 3.46sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 3.46sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.59sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 3.67sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 3.71sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 3.71sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 3.72sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 3.72sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 3.72sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 3.73sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 3.74sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 3.79sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×10 + 3.79sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 3.85sINFOmove_group ×6 + 3.85sINFOmove_group[92mYou can start planning now![0m ×3 + 4.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 4.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 4.89sINFOobjective_server_node[2026-08-02 17:41:41.408] [moveit_pro_license] [info] + 4.89sINFOobjective_server_node************************************************* ×8 + 4.89sINFOobjective_server_node* MoveIt Pro License ×4 + 4.89sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.00sINFOobjective_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. ×3 + 5.00sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 5.01sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 5.01sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 5.01sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 5.01sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 5.01sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 5.01sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 5.01sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 5.01sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 5.28sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 5.32sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 5.32sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 5.32sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 5.32sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 5.32sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 5.32sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 5.32sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 5.32sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 5.32sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 5.32sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 5.51sINFOcomponent_container_mt[2026-08-02 17:41:42.027] [moveit_pro_license] [info] + 5.51sINFOcomponent_container_mt************************************************* ×6 + 5.51sINFOcomponent_container_mt* MoveIt Pro License ×3 + 5.51sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 5.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 5.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 5.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ynfcohan --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_atet6k00 --params-file /tmp/launch_params_126vcx0m [0m + 5.71sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 5.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 5.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×9 + 5.75sINFOros2_control_node[2026-08-02 17:41:42.270] [info] Controller state will be published at 20 Hz. + 5.75sINFOros2_control_node[2026-08-02 17:41:42.271] [info] JointVelocityController 'on_configure' succeeded. + 5.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 5.82sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 6.06sINFOros2-8process has finished cleanly [pid 8996] + 6.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 6.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 6.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ynfcohan --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_atet6k00 --params-file /tmp/launch_params_126vcx0m [0m + 6.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 6.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 6.11sINFOros2_control_nodeconfigure successful[0m ×3 + 6.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 6.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×117 + 6.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797489 ms (missed cycles : 3).[0m + 6.58sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 6.59sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 6.59sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ynfcohan --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_atet6k00 --params-file /tmp/launch_params_126vcx0m [0m + 6.62sINFOros2-2process has finished cleanly [pid 8990] + 6.65sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 6.65sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 6.65sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×3 + 6.65sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 6.66sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 6.66sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×3 + 6.66sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 6.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×6 + 6.67sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×3 + 6.92sWARNobjective_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/. ×3 + 6.99sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 6.99sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 7.00sINFOros2-5process has finished cleanly [pid 8993] + 7.00sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ynfcohan --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_atet6k00 --params-file /tmp/launch_params_126vcx0m [0m + 7.02sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 7.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 7.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 7.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 7.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 7.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×3 + 7.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 7.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×88 + 7.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×47 + 7.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×45 + 7.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×3 + 7.50sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 7.50sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 7.53sINFOros2-4process has finished cleanly [pid 8992] + 7.58sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ynfcohan --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_atet6k00 --params-file /tmp/launch_params_126vcx0m [0m + 7.58sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 7.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 7.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 7.67sINFOros2_control_node[2026-08-02 17:41:44.186] [info] Controller state will be published at 10 Hz. + 7.67sINFOros2_control_node[2026-08-02 17:41:44.187] [info] VelocityForceController 'on_configure' succeeded. + 7.96sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×3 + 7.96sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×3 + 7.97sINFOros2-7process has finished cleanly [pid 8995] + 8.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ynfcohan --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_atet6k00 --params-file /tmp/launch_params_126vcx0m [0m + 8.08sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×3 + 8.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×3 + 8.09sINFOros2_control_node[2026-08-02 17:41:44.602] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 8.09sINFOros2_control_node[2026-08-02 17:41:44.602] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 8.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795011 ms (missed cycles : 5).[0m + 8.11sINFOros2_control_node[2026-08-02 17:41:44.631] [info] First order lag filter time constant set to: 0.2 seconds + 8.11sINFOros2_control_node[2026-08-02 17:41:44.631] [info] Controller state will be published at 50 Hz. + 8.12sINFOros2_control_node[2026-08-02 17:41:44.638] [info] Registered `FollowJointTrajectory` action server. + 8.44sINFOros2-6process has finished cleanly [pid 8994] + 8.75sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 8.75sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 8.75sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ynfcohan --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_atet6k00 --params-file /tmp/launch_params_126vcx0m [0m + 8.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 8.77sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 8.78sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 8.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 8.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×7 + 8.79sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 8.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692505.37592483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 8.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692505.38614631 seconds + 8.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×9 + 8.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×9 + 8.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×9 + 9.10sINFOros2-3process has finished cleanly [pid 8991] + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471619 ms (missed cycles : 2).[0m + 9.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692505.97495341 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 9.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×20 + 9.60sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698006 ms (missed cycles : 3).[0m + 10.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692507.03511143 seconds + 11.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692507.64371300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692507.70387292 seconds + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542218 ms (missed cycles : 2).[0m + 11.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692508.35914993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692508.37926388 seconds + 12.08sWARNros2_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 ×8 + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426823 ms (missed cycles : 2).[0m + 12.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692509.10427189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692509.25481462 seconds + 13.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692509.92902517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 13.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m + 13.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 13.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 13.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692509.96916056 seconds + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737225 ms (missed cycles : 2).[0m + 14.05sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692510.57340193 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 14.07sINFOobjective_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 + 14.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 14.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×3 + 14.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 14.18sINFOobjective_server_nodeFound path in 0 iterations (2.2717e-05 s). + 14.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 14.19sINFOros2_control_node[2026-08-02 17:41:50.709] [info] Received new action goal + 14.19sINFOros2_control_node[2026-08-02 17:41:50.710] [info] Accepted new action goal + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985929 ms (missed cycles : 3).[0m + 15.34sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435736 ms (missed cycles : 3).[0m + 16.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×37 + 16.68sINFOobjective_server_nodeFound path in 0 iterations (6.92e-07 s). + 16.69sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 16.70sINFOros2_control_node[2026-08-02 17:41:53.218] [info] Received new action goal + 16.70sINFOros2_control_node[2026-08-02 17:41:53.218] [info] Accepted new action goal + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243747 ms (missed cycles : 4).[0m + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191061 ms (missed cycles : 2).[0m + 18.22sWARNros2_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 ×7 + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900515 ms (missed cycles : 4).[0m + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012614 ms (missed cycles : 2).[0m + 20.42sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). + 20.44sINFOros2_control_node[2026-08-02 17:41:56.958] [info] Received new action goal + 20.44sINFOros2_control_node[2026-08-02 17:41:56.958] [info] Accepted new action goal + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847973 ms (missed cycles : 3).[0m + 22.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.855239 ms (missed cycles : 6).[0m + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857284 ms (missed cycles : 3).[0m + 23.75sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). + 23.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 23.77sINFOros2_control_node[2026-08-02 17:42:00.288] [info] Received new action goal + 23.77sINFOros2_control_node[2026-08-02 17:42:00.288] [info] Accepted new action goal + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640226 ms (missed cycles : 4).[0m + 24.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×8 + 24.62sINFOros2_control_node[2026-08-02 17:42:01.133] [info] Got request to cancel active goal. + 24.62sINFOros2_control_node[2026-08-02 17:42:01.133] [info] Canceling active goal... + 24.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785692521.16068459 seconds + 24.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×27 + 24.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×27 + 24.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×27 + 24.90sWARNros2_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 + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.927480 ms (missed cycles : 5).[0m + 25.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785692521.80325484 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 25.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785692521.91337872 seconds + 26.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785692522.53634429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 26.22sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). + 26.22sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 26.23sINFOros2_control_node[2026-08-02 17:42:02.750] [info] Received new action goal + 26.23sINFOros2_control_node[2026-08-02 17:42:02.750] [info] Accepted new action goal + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622678 ms (missed cycles : 5).[0m + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062054 ms (missed cycles : 4).[0m + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364018 ms (missed cycles : 5).[0m + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418024 ms (missed cycles : 2).[0m + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430801 ms (missed cycles : 2).[0m + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903315 ms (missed cycles : 2).[0m + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684479 ms (missed cycles : 2).[0m + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231597 ms (missed cycles : 3).[0m + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638142 ms (missed cycles : 4).[0m + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872848 ms (missed cycles : 2).[0m + 36.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816608 ms (missed cycles : 3).[0m + 37.05sWARNros2_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 ×6 + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278578 ms (missed cycles : 6).[0m + 38.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016980 ms (missed cycles : 2).[0m + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997965 ms (missed cycles : 2).[0m + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148984 ms (missed cycles : 2).[0m + 41.99sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 42.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 42.28sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). + 42.29sINFOobjective_server_nodePath shortcutter: [X__________X] ×5 + 42.30sINFOobjective_server_nodeFound path in 0 iterations (5.03e-07 s). + 42.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×6 + 42.31sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166896 ms (missed cycles : 3).[0m + 42.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×4 + 42.38sINFOobjective_server_nodeFound path in 1 iterations (0.00305126 s). + 42.48sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 42.56sINFOros2_control_node[2026-08-02 17:42:19.082] [info] Received new action goal + 42.56sINFOros2_control_node[2026-08-02 17:42:19.082] [info] Accepted new action goal + 43.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138386 ms (missed cycles : 3).[0m + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737787 ms (missed cycles : 2).[0m + 45.04sINFOros2_control_node[2026-08-02 17:42:21.555] [info] Received new action goal + 45.04sINFOros2_control_node[2026-08-02 17:42:21.555] [info] Accepted new action goal + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942698 ms (missed cycles : 4).[0m + 46.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860200 ms (missed cycles : 4).[0m + 46.94sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 46.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×7 + 46.95sINFOros2_control_node[2026-08-02 17:42:23.472] [info] Received new action goal + 46.95sINFOros2_control_node[2026-08-02 17:42:23.472] [info] Accepted new action goal + 47.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157627 ms (missed cycles : 2).[0m + 48.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785692544.85809755 seconds + 48.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015630 ms (missed cycles : 3).[0m + 48.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785692545.47649121 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 49.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785692545.56661749 seconds + 49.69sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785692546.21305275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 49.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251889 ms (missed cycles : 5).[0m + 49.81sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). + 49.82sINFOobjective_server_nodePath shortcutter: [X_____________X] + 49.83sINFOros2_control_node[2026-08-02 17:42:26.348] [info] Received new action goal + 49.83sINFOros2_control_node[2026-08-02 17:42:26.348] [info] Accepted new action goal + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.181084 ms (missed cycles : 7).[0m + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792046 ms (missed cycles : 2).[0m + 52.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067266 ms (missed cycles : 4).[0m + 53.17sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). + 53.18sINFOros2_control_node[2026-08-02 17:42:29.697] [info] Received new action goal + 53.18sINFOros2_control_node[2026-08-02 17:42:29.697] [info] Accepted new action goal + 54.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249386 ms (missed cycles : 2).[0m + 55.17sWARNros2_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 + 55.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994212 ms (missed cycles : 3).[0m + 55.51sINFOobjective_server_nodeFound path in 0 iterations (6.75e-07 s). + 55.52sINFOros2_control_node[2026-08-02 17:42:32.035] [info] Received new action goal + 55.52sINFOros2_control_node[2026-08-02 17:42:32.035] [info] Accepted new action goal + 56.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689918 ms (missed cycles : 4).[0m + 57.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660421 ms (missed cycles : 4).[0m + 57.86sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 57.87sINFOros2_control_node[2026-08-02 17:42:34.385] [info] Received new action goal + 57.87sINFOros2_control_node[2026-08-02 17:42:34.385] [info] Accepted new action goal + 58.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278631 ms (missed cycles : 3).[0m + 59.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988568 ms (missed cycles : 4).[0m + 60.01sINFOros2_control_node[2026-08-02 17:42:36.533] [info] Got request to cancel active goal. + 60.01sINFOros2_control_node[2026-08-02 17:42:36.533] [info] Canceling active goal... + 60.03sERRORobjective_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: 1785692556.54648423 seconds + 60.67sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785692557.18936849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 60.85sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). + 60.85sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 60.86sINFOros2_control_node[2026-08-02 17:42:37.382] [info] Received new action goal + 60.86sINFOros2_control_node[2026-08-02 17:42:37.382] [info] Accepted new action goal + 60.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.817721 ms (missed cycles : 5).[0m + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430584 ms (missed cycles : 2).[0m + 62.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926051 ms (missed cycles : 5).[0m + 64.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909961 ms (missed cycles : 3).[0m + 65.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.850826 ms (missed cycles : 2).[0m + 66.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722830 ms (missed cycles : 4).[0m + 67.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067273 ms (missed cycles : 2).[0m + 69.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.168902 ms (missed cycles : 6).[0m + 70.03sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). + 70.04sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). + 70.05sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 70.11sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). + 70.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 70.17sINFOobjective_server_nodeFound path in 1 iterations (0.00277942 s). + 70.27sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 70.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.386350 ms (missed cycles : 6).[0m + 70.31sINFOobjective_server_nodeFound path in 1 iterations (0.00465227 s). + 70.40sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X___________________________X] ×2 + 70.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 70.56sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). + 70.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 70.80sINFOros2_control_node[2026-08-02 17:42:47.316] [info] Received new action goal + 70.80sINFOros2_control_node[2026-08-02 17:42:47.316] [info] Accepted new action goal + 71.12sINFOros2_control_node[2026-08-02 17:42:47.639] [info] Got request to cancel active goal. + 71.12sINFOros2_control_node[2026-08-02 17:42:47.639] [info] Canceling active goal... + 71.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785692567.65921760 seconds + 71.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516316 ms (missed cycles : 2).[0m + 71.76sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785692568.28188300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 71.95sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). + 71.96sINFOros2_control_node[2026-08-02 17:42:48.475] [info] Received new action goal + 71.96sINFOros2_control_node[2026-08-02 17:42:48.475] [info] Accepted new action goal + 72.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128550 ms (missed cycles : 3).[0m + 73.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.378429 ms (missed cycles : 5).[0m + 73.99sWARNros2_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 ×5 + 74.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956817 ms (missed cycles : 4).[0m + 75.35sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m + 75.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719424 ms (missed cycles : 3).[0m + 76.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139835 ms (missed cycles : 4).[0m + 76.74sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). + 76.74sINFOobjective_server_nodeFound path in 0 iterations (1.72e-07 s). + 76.76sINFOobjective_server_nodeFound path in 0 iterations (1.6e-07 s). + 76.82sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). + 76.88sINFOobjective_server_nodeFound path in 1 iterations (0.00266977 s). + 77.02sINFOobjective_server_nodeFound path in 1 iterations (0.00434841 s). + 77.27sINFOobjective_server_nodeFound path in 0 iterations (2.05e-07 s). + 77.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823113 ms (missed cycles : 2).[0m + 77.52sINFOros2_control_node[2026-08-02 17:42:54.039] [info] Received new action goal + 77.52sINFOros2_control_node[2026-08-02 17:42:54.039] [info] Accepted new action goal + 78.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100817 ms (missed cycles : 4).[0m + 79.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928693 ms (missed cycles : 2).[0m + 80.21sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). + 80.21sINFOobjective_server_nodeFound path in 0 iterations (5.95e-07 s). + 80.22sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 80.23sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). + 80.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 80.31sINFOobjective_server_nodeFound path in 1 iterations (0.00367812 s). + 80.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] + 80.50sINFOros2_control_node[2026-08-02 17:42:57.018] [info] Received new action goal + 80.50sINFOros2_control_node[2026-08-02 17:42:57.018] [info] Accepted new action goal + 80.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167817 ms (missed cycles : 4).[0m + 80.94sINFOros2_control_node[2026-08-02 17:42:57.459] [info] Received new action goal + 80.94sINFOros2_control_node[2026-08-02 17:42:57.460] [info] Accepted new action goal + 81.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.940922 ms (missed cycles : 6).[0m + 82.02sINFOros2_control_node[2026-08-02 17:42:58.542] [info] Got request to cancel active goal. + 82.02sINFOros2_control_node[2026-08-02 17:42:58.542] [info] Canceling active goal... + 82.03sERRORobjective_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: 1785692578.55067253 seconds + 82.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785692579.20398927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 82.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095108 ms (missed cycles : 3).[0m + 82.85sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). + 82.86sINFOros2_control_node[2026-08-02 17:42:59.377] [info] Received new action goal + 82.86sINFOros2_control_node[2026-08-02 17:42:59.377] [info] Accepted new action goal + 83.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471587 ms (missed cycles : 5).[0m + 84.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.305098 ms (missed cycles : 5).[0m + 85.37sINFOros2_control_node[2026-08-02 17:43:01.889] [info] Received new action goal + 85.37sINFOros2_control_node[2026-08-02 17:43:01.890] [info] Accepted new action goal + 85.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686782 ms (missed cycles : 2).[0m + 86.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m + 86.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525883 ms (missed cycles : 2).[0m + 88.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263862 ms (missed cycles : 5).[0m + 89.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002913 ms (missed cycles : 3).[0m + 90.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911635 ms (missed cycles : 4).[0m + 91.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527609 ms (missed cycles : 2).[0m + 92.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053044 ms (missed cycles : 3).[0m + 93.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495480 ms (missed cycles : 2).[0m + 93.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785692590.45175529 seconds + 94.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.647679 ms (missed cycles : 4).[0m + 94.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785692591.12449980 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 94.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 94.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 94.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 94.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785692591.19462872 seconds + 95.30sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785692591.81901979 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 95.40sINFOobjective_server_nodeFound path in 0 iterations (5.98e-07 s). + 95.41sINFOros2_control_node[2026-08-02 17:43:11.933] [info] Received new action goal + 95.42sINFOros2_control_node[2026-08-02 17:43:11.933] [info] Accepted new action goal + 95.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387548 ms (missed cycles : 5).[0m + 96.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.273883 ms (missed cycles : 6).[0m + 97.42sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785692593.93915009 seconds + 97.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951789 ms (missed cycles : 2).[0m + 98.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.152845 ms (missed cycles : 4).[0m + 99.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785692595.53766251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 99.71sINFOobjective_server_node[2026-08-02 17:43:16.226] [info] Selected ONNX execution provider: CUDAExecutionProvider + 99.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012063 ms (missed cycles : 2).[0m +100.47sINFOobjective_server_node[0;93m2026-08-02 17:43:16.990203551 [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 +100.47sINFOobjective_server_node[0;93m2026-08-02 17:43:16.990237591 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +100.68sINFOobjective_server_node[2026-08-02 17:43:17.199] [info] Selected ONNX execution provider: CUDAExecutionProvider +101.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.599540 ms (missed cycles : 6).[0m +101.90sINFOobjective_server_node[0;93m2026-08-02 17:43:18.423808896 [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 +101.91sINFOobjective_server_node[0;93m2026-08-02 17:43:18.423842066 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +102.04sINFOobjective_server_node[2026-08-02 17:43:18.561] [info] Selected ONNX execution provider: CUDAExecutionProvider +102.11sINFOobjective_server_node[0;93m2026-08-02 17:43:18.626949298 [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 +102.11sINFOobjective_server_node[0;93m2026-08-02 17:43:18.631340358 [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 +102.11sINFOobjective_server_node[0;93m2026-08-02 17:43:18.631369941 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +102.13sINFOobjective_server_node[2026-08-02 17:43:18.648] [info] Selected ONNX execution provider: CUDAExecutionProvider +102.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847655 ms (missed cycles : 2).[0m +102.49sINFOobjective_server_node[0;93m2026-08-02 17:43:19.011640230 [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 +102.52sINFOobjective_server_node[0;93m2026-08-02 17:43:19.035303212 [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 +102.52sINFOobjective_server_node[0;93m2026-08-02 17:43:19.035333571 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +103.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 +103.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894379 ms (missed cycles : 3).[0m +104.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785692600.90494752 seconds +104.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.466872 ms (missed cycles : 4).[0m +105.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785692601.62311673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +105.19sINFOobjective_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 +105.19sINFOobjective_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 +105.47sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). +105.47sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 +105.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700620 ms (missed cycles : 2).[0m +105.51sINFOros2_control_node[2026-08-02 17:43:22.031] [info] Received new action goal +105.51sINFOros2_control_node[2026-08-02 17:43:22.031] [info] Accepted new action goal +106.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622195 ms (missed cycles : 4).[0m +107.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157180 ms (missed cycles : 3).[0m +108.36sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). +108.39sINFOros2_control_node[2026-08-02 17:43:24.906] [info] Received new action goal +108.39sINFOros2_control_node[2026-08-02 17:43:24.906] [info] Accepted new action goal +108.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.218391 ms (missed cycles : 6).[0m +109.07sWARNros2_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 ×3 +109.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747571 ms (missed cycles : 2).[0m +110.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122537 ms (missed cycles : 3).[0m +111.57sINFOros2_control_node[2026-08-02 17:43:28.088] [info] Received new action goal +111.57sINFOros2_control_node[2026-08-02 17:43:28.088] [info] Accepted new action goal +111.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254664 ms (missed cycles : 3).[0m +113.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667109 ms (missed cycles : 2).[0m +114.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.863020 ms (missed cycles : 6).[0m +114.54sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). +114.60sINFOros2_control_node[2026-08-02 17:43:31.121] [info] Received new action goal +114.60sINFOros2_control_node[2026-08-02 17:43:31.121] [info] Accepted new action goal +115.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m +115.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939007 ms (missed cycles : 2).[0m +116.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334905 ms (missed cycles : 2).[0m +117.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484323 ms (missed cycles : 2).[0m +117.57sINFOobjective_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 ×5 +117.57sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×3 +117.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×5 +117.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×5 +117.57sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×3 +118.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.508314 ms (missed cycles : 5).[0m +119.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593173 ms (missed cycles : 2).[0m +120.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034430 ms (missed cycles : 2).[0m +121.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640389 ms (missed cycles : 3).[0m +122.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260316 ms (missed cycles : 3).[0m +123.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950479 ms (missed cycles : 2).[0m +124.34sINFOobjective_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 +124.34sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×3 +124.34sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×3 +125.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621447 ms (missed cycles : 2).[0m +125.27sINFOros2_control_node[2026-08-02 17:43:41.786] [info] Received new action goal +125.27sINFOros2_control_node[2026-08-02 17:43:41.786] [info] Accepted new action goal +126.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780436 ms (missed cycles : 2).[0m +126.43sINFOobjective_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 +126.44sINFOobjective_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 +126.72sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +126.72sINFOobjective_server_nodePath shortcutter: [X___________X] +126.77sINFOros2_control_node[2026-08-02 17:43:43.290] [info] Received new action goal +126.77sINFOros2_control_node[2026-08-02 17:43:43.290] [info] Accepted new action goal +127.01sWARNros2_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 +127.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795188 ms (missed cycles : 2).[0m +128.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633373 ms (missed cycles : 5).[0m +128.89sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). +128.91sINFOros2_control_node[2026-08-02 17:43:45.427] [info] Received new action goal +128.91sINFOros2_control_node[2026-08-02 17:43:45.427] [info] Accepted new action goal +129.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.717980 ms (missed cycles : 6).[0m +130.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846868 ms (missed cycles : 3).[0m +131.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548810 ms (missed cycles : 2).[0m +131.93sINFOros2_control_node[2026-08-02 17:43:48.447] [info] Received new action goal +131.93sINFOros2_control_node[2026-08-02 17:43:48.447] [info] Accepted new action goal +132.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490054 ms (missed cycles : 2).[0m +133.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811811 ms (missed cycles : 2).[0m +134.54sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). +134.58sINFOros2_control_node[2026-08-02 17:43:51.100] [info] Received new action goal +134.58sINFOros2_control_node[2026-08-02 17:43:51.101] [info] Accepted new action goal +134.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.341583 ms (missed cycles : 6).[0m +135.35sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m +135.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560102 ms (missed cycles : 4).[0m +136.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492323 ms (missed cycles : 3).[0m +138.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.921368 ms (missed cycles : 4).[0m +139.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815451 ms (missed cycles : 2).[0m +140.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125662 ms (missed cycles : 2).[0m +141.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837205 ms (missed cycles : 3).[0m +142.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958437 ms (missed cycles : 5).[0m +143.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271250 ms (missed cycles : 3).[0m +144.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730448 ms (missed cycles : 2).[0m +145.26sINFOros2_control_node[2026-08-02 17:44:01.777] [info] Received new action goal +145.26sINFOros2_control_node[2026-08-02 17:44:01.777] [info] Accepted new action goal +145.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.561246 ms (missed cycles : 5).[0m +146.41sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785692642.93332577 seconds +146.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094729 ms (missed cycles : 2).[0m +147.55sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785692644.06765008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +147.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360037 ms (missed cycles : 4).[0m +148.71sINFOobjective_server_nodeFound path in 0 iterations (4.75e-07 s). +148.72sINFOobjective_server_nodePath shortcutter: [X__________________________X] +148.73sINFOros2_control_node[2026-08-02 17:44:05.253] [info] Received new action goal +148.73sINFOros2_control_node[2026-08-02 17:44:05.253] [info] Accepted new action goal +148.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.542331 ms (missed cycles : 3).[0m +150.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751242 ms (missed cycles : 5).[0m +151.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991610 ms (missed cycles : 3).[0m +152.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203565 ms (missed cycles : 4).[0m +153.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.215721 ms (missed cycles : 3).[0m +154.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782010 ms (missed cycles : 4).[0m +154.81sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). +154.82sINFOobjective_server_nodePath shortcutter: [X________________________X] +154.83sINFOros2_control_node[2026-08-02 17:44:11.352] [info] Received new action goal +154.83sINFOros2_control_node[2026-08-02 17:44:11.352] [info] Accepted new action goal +154.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m +155.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710090 ms (missed cycles : 2).[0m +156.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091004 ms (missed cycles : 2).[0m +157.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841381 ms (missed cycles : 2).[0m +158.44sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785692654.95781469 seconds +158.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083315 ms (missed cycles : 2).[0m +159.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692655.56440425 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +159.21sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). +159.21sINFOobjective_server_nodePath shortcutter: [X___X] ×3 +159.22sINFOros2_control_node[2026-08-02 17:44:15.738] [info] Received new action goal +159.22sINFOros2_control_node[2026-08-02 17:44:15.738] [info] Accepted new action goal +159.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179994 ms (missed cycles : 2).[0m +160.49sINFOobjective_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 ×2 +160.49sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. +160.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705691 ms (missed cycles : 2).[0m +160.90sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×7 +160.91sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 +161.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m +161.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415666 ms (missed cycles : 4).[0m +162.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692658.66542530 seconds +162.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181317 ms (missed cycles : 2).[0m +162.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785692659.29273725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +162.93sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). +162.94sINFOros2_control_node[2026-08-02 17:44:19.456] [info] Received new action goal +162.94sINFOros2_control_node[2026-08-02 17:44:19.456] [info] Accepted new action goal +163.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642588 ms (missed cycles : 4).[0m +164.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785692661.05506706 seconds +164.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512022 ms (missed cycles : 2).[0m +165.17sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785692661.69277358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +165.35sINFOobjective_server_nodePath shortcutter: [X_____X] +165.36sINFOros2_control_node[2026-08-02 17:44:21.877] [info] Received new action goal +165.36sINFOros2_control_node[2026-08-02 17:44:21.877] [info] Accepted new action goal +165.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531211 ms (missed cycles : 3).[0m +166.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 +166.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787916 ms (missed cycles : 2).[0m +168.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927570 ms (missed cycles : 3).[0m +168.39sINFOros2_control_node[2026-08-02 17:44:24.912] [info] Received new action goal +168.39sINFOros2_control_node[2026-08-02 17:44:24.912] [info] Accepted new action goal +169.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836482 ms (missed cycles : 2).[0m +170.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184858 ms (missed cycles : 2).[0m +170.24sINFOros2_control_node[2026-08-02 17:44:26.761] [info] Received new action goal +170.24sINFOros2_control_node[2026-08-02 17:44:26.761] [info] Accepted new action goal +171.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664033 ms (missed cycles : 3).[0m +172.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994071 ms (missed cycles : 2).[0m +173.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524142 ms (missed cycles : 3).[0m +174.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144898 ms (missed cycles : 4).[0m +175.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113016 ms (missed cycles : 4).[0m +176.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043682 ms (missed cycles : 2).[0m +177.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826905 ms (missed cycles : 5).[0m +178.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229812 ms (missed cycles : 2).[0m +179.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518274 ms (missed cycles : 3).[0m +180.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523309 ms (missed cycles : 5).[0m +181.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221915 ms (missed cycles : 2).[0m +182.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629806 ms (missed cycles : 3).[0m +183.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m +184.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969417 ms (missed cycles : 5).[0m +185.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362332 ms (missed cycles : 3).[0m +186.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308199 ms (missed cycles : 4).[0m +187.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659481 ms (missed cycles : 4).[0m +188.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138177 ms (missed cycles : 2).[0m +189.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130697 ms (missed cycles : 3).[0m +190.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030847 ms (missed cycles : 2).[0m +191.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449777 ms (missed cycles : 2).[0m +192.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.603673 ms (missed cycles : 4).[0m +193.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682927 ms (missed cycles : 2).[0m +194.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950379 ms (missed cycles : 2).[0m +195.35sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m +196.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332476 ms (missed cycles : 2).[0m +197.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.585206 ms (missed cycles : 6).[0m +198.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240121 ms (missed cycles : 2).[0m +199.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853814 ms (missed cycles : 2).[0m +200.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697892 ms (missed cycles : 4).[0m +201.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009679 ms (missed cycles : 3).[0m +202.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968717 ms (missed cycles : 2).[0m +203.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162992 ms (missed cycles : 3).[0m +203.76sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 30 seconds. +203.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` did not succeed at time: 1785692700.27840948 seconds +204.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025357 ms (missed cycles : 2).[0m +204.56sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785692701.07746887 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +204.74sINFOobjective_server_nodeFound path in 5 iterations (0.00613622 s). +204.80sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] +204.82sINFOros2_control_node[2026-08-02 17:45:01.336] [info] Received new action goal +204.82sINFOros2_control_node[2026-08-02 17:45:01.336] [info] Accepted new action goal +205.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055109 ms (missed cycles : 2).[0m +206.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879135 ms (missed cycles : 2).[0m +207.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076859 ms (missed cycles : 4).[0m +208.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.590839 ms (missed cycles : 4).[0m +210.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154099 ms (missed cycles : 3).[0m +211.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155104 ms (missed cycles : 3).[0m +212.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935382 ms (missed cycles : 2).[0m +212.14sWARNros2_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 +213.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.976983 ms (missed cycles : 7).[0m +214.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258489 ms (missed cycles : 4).[0m +215.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.583181 ms (missed cycles : 6).[0m +216.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.030639 ms (missed cycles : 4).[0m +217.13sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/wrist_camera/points': Timed out after 5 seconds. +217.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick 1 Pill Bottle with SAM3` did not succeed at time: 1785692713.64764190 seconds +217.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.235656 ms (missed cycles : 2).[0m +217.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785692714.33546495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +218.00sINFOobjective_server_nodeFound path in 0 iterations (1.0851e-05 s). +218.01sINFOros2_control_node[2026-08-02 17:45:14.529] [info] Received new action goal +218.01sINFOros2_control_node[2026-08-02 17:45:14.529] [info] Accepted new action goal +218.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850609 ms (missed cycles : 2).[0m +219.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669143 ms (missed cycles : 5).[0m +220.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245727 ms (missed cycles : 2).[0m +221.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.522640 ms (missed cycles : 6).[0m +223.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.907748 ms (missed cycles : 5).[0m +224.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333673 ms (missed cycles : 4).[0m +225.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.104748 ms (missed cycles : 4).[0m +226.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.494943 ms (missed cycles : 7).[0m +227.50sINFOobjective_server_nodeFound path in 0 iterations (6.35e-07 s). +227.51sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). +227.53sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). +227.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.939215 ms (missed cycles : 5).[0m +227.60sINFOobjective_server_nodeFound path in 1 iterations (0.00324649 s). +227.76sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +227.79sINFOros2_control_node[2026-08-02 17:45:24.307] [info] Received new action goal +227.79sINFOros2_control_node[2026-08-02 17:45:24.307] [info] Accepted new action goal +228.02sINFOros2_control_node[2026-08-02 17:45:24.535] [info] Got request to cancel active goal. +228.02sINFOros2_control_node[2026-08-02 17:45:24.535] [info] Canceling active goal... +228.03sERRORobjective_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: 1785692724.54850960 seconds +228.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026932 ms (missed cycles : 4).[0m +228.72sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785692725.23997164 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +228.87sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). +228.88sINFOros2_control_node[2026-08-02 17:45:25.394] [info] Received new action goal +228.88sINFOros2_control_node[2026-08-02 17:45:25.394] [info] Accepted new action goal +229.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166528 ms (missed cycles : 6).[0m +230.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155707 ms (missed cycles : 3).[0m +230.79sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +231.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493432 ms (missed cycles : 2).[0m +232.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434751 ms (missed cycles : 3).[0m +233.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179906 ms (missed cycles : 4).[0m +234.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.484829 ms (missed cycles : 5).[0m +235.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786431 ms (missed cycles : 2).[0m +236.88sWARNros2_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 +237.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761708 ms (missed cycles : 3).[0m +238.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872664 ms (missed cycles : 2).[0m +239.02sERRORobjective_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: 1785692735.54040956 seconds +239.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932431 ms (missed cycles : 4).[0m +239.63sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. +239.63sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785692736.14690971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +239.93sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). +239.95sINFOros2_control_node[2026-08-02 17:45:36.467] [info] Received new action goal +239.95sINFOros2_control_node[2026-08-02 17:45:36.467] [info] Accepted new action goal +240.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001536 ms (missed cycles : 2).[0m +241.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059966 ms (missed cycles : 2).[0m +242.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955421 ms (missed cycles : 3).[0m +243.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972325 ms (missed cycles : 4).[0m +243.96sINFOros2_control_node[2026-08-02 17:45:40.475] [info] Received new action goal +243.96sINFOros2_control_node[2026-08-02 17:45:40.475] [info] Accepted new action goal +244.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372420 ms (missed cycles : 3).[0m +245.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678605 ms (missed cycles : 4).[0m +246.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299505 ms (missed cycles : 3).[0m +247.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759758 ms (missed cycles : 3).[0m +248.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103453 ms (missed cycles : 3).[0m +249.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785692746.06046391 seconds +249.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155609 ms (missed cycles : 4).[0m +250.20sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785692746.71939492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +250.32sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). +250.33sINFOros2_control_node[2026-08-02 17:45:46.853] [info] Received new action goal +250.33sINFOros2_control_node[2026-08-02 17:45:46.853] [info] Accepted new action goal +251.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508688 ms (missed cycles : 3).[0m +252.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791551 ms (missed cycles : 2).[0m +253.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254513 ms (missed cycles : 4).[0m +254.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709731 ms (missed cycles : 2).[0m +255.35sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m +255.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239020 ms (missed cycles : 4).[0m +256.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.045256 ms (missed cycles : 5).[0m +257.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.966943 ms (missed cycles : 4).[0m +258.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375101 ms (missed cycles : 3).[0m +259.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226556 ms (missed cycles : 4).[0m +260.52sERRORobjective_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: 1785692757.03968763 seconds +260.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042482 ms (missed cycles : 5).[0m +261.16sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. +261.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785692757.67507410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +261.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785692757.74520373 seconds +261.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094256 ms (missed cycles : 3).[0m +261.82sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×2 +261.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785692758.34107399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +261.84sINFOobjective_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 '' +261.84sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785692758.36316705 seconds +262.45sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785692758.96621060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +262.56sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). +262.57sINFOros2_control_node[2026-08-02 17:45:59.089] [info] Received new action goal +262.57sINFOros2_control_node[2026-08-02 17:45:59.089] [info] Accepted new action goal +262.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479786 ms (missed cycles : 2).[0m +263.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992891 ms (missed cycles : 8).[0m +265.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899311 ms (missed cycles : 3).[0m +265.88sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +265.88sINFOros2_control_node[2026-08-02 17:46:02.400] [info] Received new action goal +265.88sINFOros2_control_node[2026-08-02 17:46:02.400] [info] Accepted new action goal +265.88sINFOros2_control_node[2026-08-02 17:46:02.400] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +266.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062577 ms (missed cycles : 2).[0m +267.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403135 ms (missed cycles : 2).[0m +268.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873413 ms (missed cycles : 4).[0m +269.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276128 ms (missed cycles : 5).[0m +270.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939886 ms (missed cycles : 2).[0m +271.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278765 ms (missed cycles : 3).[0m +272.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390685 ms (missed cycles : 4).[0m +272.52sINFOros2_control_node[2026-08-02 17:46:09.036] [info] Got request to cancel active goal. +272.52sINFOros2_control_node[2026-08-02 17:46:09.036] [info] Canceling active goal... +272.52sERRORobjective_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: 1785692769.04076052 seconds +273.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785692769.64621282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +273.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749312 ms (missed cycles : 4).[0m +274.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521527 ms (missed cycles : 3).[0m +275.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281139 ms (missed cycles : 2).[0m +276.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480657 ms (missed cycles : 2).[0m +277.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673228 ms (missed cycles : 6).[0m +279.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161030 ms (missed cycles : 3).[0m +280.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511766 ms (missed cycles : 2).[0m +281.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.026226 ms (missed cycles : 7).[0m +282.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070815 ms (missed cycles : 2).[0m +283.18sERRORobjective_server_nodeGetPointCloud Error: Failed to get next message on topic '/scene_camera/points': Timed out after 10 seconds. +283.18sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Take Scene Camera Snapshot` did not succeed at time: 1785692779.69637084 seconds +283.87sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785692780.39347911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +283.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +283.88sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +283.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +283.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785692780.39513969 seconds +283.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680456 ms (missed cycles : 4).[0m +284.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785692780.99379039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +284.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785692780.99428654 seconds +284.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.905912 ms (missed cycles : 5).[0m +285.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785692781.59040809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +285.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303087 ms (missed cycles : 2).[0m +287.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312982 ms (missed cycles : 5).[0m +287.99sWARNros2_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 +288.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169577 ms (missed cycles : 4).[0m +289.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244660 ms (missed cycles : 2).[0m +290.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446374 ms (missed cycles : 5).[0m +291.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.128473 ms (missed cycles : 5).[0m +292.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785692788.60573530 seconds +292.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +293.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.160956 ms (missed cycles : 5).[0m +293.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085747 ms (missed cycles : 2).[0m +294.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011222 ms (missed cycles : 2).[0m +295.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.732824 ms (missed cycles : 3).[0m +296.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140252 ms (missed cycles : 5).[0m +297.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851162 ms (missed cycles : 2).[0m +298.14sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.14sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.15sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.15sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.15sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.15sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] +298.16sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.16sERRORweb_video_auth_proxy-23process has died [pid 9103, 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']. +298.16sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.17sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.17sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.17sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] +298.18sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.18sERRORweb_bridge_auth_proxy-22process has died [pid 9102, 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']. +298.18sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.19sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.19sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.19sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.20sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.20sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +298.20sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] +298.21sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +298.22sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] +298.23sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] +298.24sINFOvideo_server-21process has finished cleanly [pid 9101] +298.25sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] +298.26sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] +298.27sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +298.29sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +298.30sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system +298.30sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +298.32sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +298.33sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +298.34sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +298.36sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +298.37sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +298.38sINFOvideo_server2026/08/02 17:46:34 INF shutting down gracefully +298.38sINFOvideo_server2026/08/02 17:46:34 INF [WebRTC] closing +298.38sINFOvideo_server2026/08/02 17:46:34 INF [RTSP] closing +298.38sINFOvideo_server2026/08/02 17:46:34 INF waiting for running hooks +298.38sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +298.38sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +298.38sERRORui_teleop_bridgeTraceback (most recent call last): +298.38sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> +298.38sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) +298.38sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +298.38sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main +298.38sINFOui_teleop_bridgerclpy.shutdown() +298.38sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown +298.38sINFOui_teleop_bridge_shutdown(context=context) +298.38sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown +298.38sINFOui_teleop_bridgecontext.shutdown() +298.38sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown +298.38sINFOui_teleop_bridgeself.__context.shutdown() +298.38sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 +298.39sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +298.39sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +298.39sERRORmove_groupwhat(): context cannot be slept with because it's invalid +298.39sERRORmove_groupStack trace (most recent call last) in thread 9360: +298.39sERRORmove_group-9process has died [pid 9026, 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_ahl3vria --params-file /tmp/launch_params_411k_777 --params-file /tmp/launch_params_qt45leby --params-file /tmp/launch_params_vqxw_db3 --params-file /tmp/launch_params_ex367a1p --params-file /tmp/launch_params_60indxwp']. +298.39sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +298.39sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9014e53a63, in __clone +298.39sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9014dc6aa3, in +298.39sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9015058db3, in +298.39sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f90157c4ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +298.39sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f90153ea620, in rclcpp::Rate::sleep() +298.39sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f901532cd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +298.39sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f90152ee087, in +298.39sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9015027390, in __cxa_throw +298.39sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9015011a54, in std::terminate() +298.39sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f90150270d9, in +298.39sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9015011ff4, in +298.39sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9014d528fe, in abort +298.39sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9014d6f27d, in raise +298.39sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9014dc8b2c, in pthread_kill +298.39sERRORmove_groupAborted (Signal sent by tkill() 9026 0) +298.39sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +298.39sINFOros2_control_nodeShutdown request received....[0m +298.39sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +298.39sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +298.39sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +298.39sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +298.39sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +298.39sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +298.39sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +298.39sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +298.39sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +298.39sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +298.39sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +298.39sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +298.39sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +298.39sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +298.39sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +298.39sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +298.39sINFOros2_control_nodeShutting down the controller manager.[0m +298.42sINFOobjective_server_node[0;m[2026-08-02 17:46:34.937] [moveit_pro_license] [info] +298.42sINFOobjective_server_node* Application has successfully terminated +298.51sERRORobjective_server_nodeStack trace (most recent call last): +298.52sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +298.52sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f9bd6386a4, in _start +298.52sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc284b5928a, in __libc_start_main +298.52sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc284b591d0, in +298.52sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc284b76bbd, in exit +298.52sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc284b76a75, in +298.52sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7fc2850458f5, in spdlog::details::registry::~registry() +298.52sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f9bd638d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +298.52sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f9bd63f315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() +298.52sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f9bd63e5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() +298.52sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f9bd63ab7b, in spdlog_ros::RosSink::~RosSink() +298.52sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f9bd638d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() +298.52sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc28571d294, in rclcpp::Node::~Node() +298.52sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2856c7485, in +298.52sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc28571bb60, in +298.52sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc28571baa3, in rclcpp::node_interfaces::NodeBase::~NodeBase() +298.52sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2856c7549, in +298.52sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fc2856cbba1, in rclcpp::CallbackGroup::~CallbackGroup() +298.52sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fc245e2b930]) +298.59sINFOros2_control_nodeAsync messages lost 0[0m ×2 +298.59sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 +298.94sERRORobjective_server_node_main-14process has died [pid 9031, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_rmwj444c --params-file /tmp/launch_params_yl3i2xmx --params-file /tmp/launch_params_7fq_seyr --params-file /tmp/launch_params_2dp5makw --params-file /tmp/launch_params_6m521zxz --params-file /tmp/launch_params_bgr724gm --params-file /tmp/launch_params_8t1o2v8y --params-file /tmp/launch_params_vwgo88j2 --params-file /tmp/launch_params_n3bev2n9']. +298.94sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +299.26sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9100] +299.26sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +299.35sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9030] +299.35sINFOexecute_objective_bridge-17process has finished cleanly [pid 9034] +299.36sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9029] +299.36sERRORui_teleop_bridge-18process has died [pid 9035, exit code 1, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge --ros-args --params-file /tmp/launch_params_bc3eetm1']. +299.37sINFOcomponent_container_mt-16process has finished cleanly [pid 9033] +299.40sINFOparameter_manager_node-10process has finished cleanly [pid 9027] +299.41sINFOwaypoint_manager_node-11process has finished cleanly [pid 9028] +299.47sINFOcomponent_container_mt-15process has finished cleanly [pid 9032] +300.63sINFOweb_bridge-19process has finished cleanly [pid 9036] +300.63sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system +301.01sINFOros2_control_node-1process has finished cleanly [pid 8989] +306.80sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-02-17-46-42-548544-0a1d5ee40f47-10150 ×2 +308.63sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +308.64sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +308.64sINFOcontroller_managerupdate rate is 600 Hz +308.64sINFOcontroller_managerOverruns handling is : enabled +308.64sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +308.64sWARNcontroller_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. +308.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050132 ms (missed cycles : 2). +308.86sINFOros2_control_node-1process started with pid [10198] ×2 +308.86sINFOmove_group-9process started with pid [10235] ×2 +308.86sINFOparameter_manager_node-10process started with pid [10236] ×2 +308.86sINFOwaypoint_manager_node-11process started with pid [10237] ×2 +308.86sINFOmove_joint_resampler_node-12process started with pid [10238] ×2 +308.86sINFOmove_end_effector_resampler_node-13process started with pid [10239] ×2 +308.86sINFOobjective_server_node_main-14process started with pid [10240] ×2 +308.86sINFOcomponent_container_mt-15process started with pid [10241] ×2 +308.86sINFOcomponent_container_mt-16process started with pid [10242] ×2 +308.86sINFOexecute_objective_bridge-17process started with pid [10243] ×2 +308.86sINFOui_teleop_bridge-18process started with pid [10244] ×2 +308.86sINFOweb_bridge-19process started with pid [10245] ×2 +308.86sINFOtf2_web_republisher_node-20process started with pid [10309] ×2 +308.86sINFOvideo_server-21process started with pid [10310] ×2 +308.86sINFOweb_bridge_auth_proxy-22process started with pid [10311] ×2 +308.86sINFOweb_video_auth_proxy-23process started with pid [10312] ×2 +308.87sINFOros2-2process started with pid [10199] ×2 +308.91sINFOros2-3process started with pid [10200] ×2 +308.91sINFOros2-4process started with pid [10201] ×2 +308.91sINFOros2-5process started with pid [10202] ×2 +308.91sINFOros2-6process started with pid [10203] ×2 +308.91sINFOros2-7process started with pid [10204] ×2 +308.91sINFOros2-8process started with pid [10205] ×2 +308.91sINFOcontroller_managerReceived robot description from topic. +308.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +308.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +308.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050132 ms (missed cycles : 2).[0m ×2 +309.54sINFOvideo_server2026/08/02 17:46:46 INF MediaMTX v1.19.3, linux, amd64 ×2 +309.54sINFOvideo_server2026/08/02 17:46:46 INF configuration loaded from /tmp/moveit-webrtc-_o41hol0/mediamtx.yml ×2 +309.54sINFOvideo_server2026/08/02 17:46:46 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +309.54sINFOvideo_server2026/08/02 17:46:46 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +309.82sINFOmove_group[2026-08-02 17:46:46.336] [moveit_pro_license] [info] ×2 +310.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486674 ms (missed cycles : 3). +310.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486674 ms (missed cycles : 3).[0m ×2 +310.07sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +310.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +310.45sINFOwaypoint_manager_node[2026-08-02 17:46:46.969] [moveit_pro_license] [info] ×2 +310.51sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +311.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931243 ms (missed cycles : 2). +311.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931243 ms (missed cycles : 2).[0m ×2 +311.26sINFOobjective_server_node[2026-08-02 17:46:47.774] [moveit_pro_license] [info] ×2 +311.94sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +312.30sINFOcomponent_container_mt[2026-08-02 17:46:48.822] [moveit_pro_license] [info] ×2 +312.41sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +312.41sINFOcontroller_managerActivating component 'ur_mujoco_control'. +312.41sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +312.41sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +312.52sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +312.52sINFOcontroller_managerLoading controller 'joint_velocity_controller' +312.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 +312.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 +312.65sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +312.65sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +312.68sINFOros2_control_node[2026-08-02 17:46:49.199] [info] Controller state will be published at 20 Hz. ×2 +312.68sINFOros2_control_node[2026-08-02 17:46:49.200] [info] JointVelocityController 'on_configure' succeeded. ×2 +312.96sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +312.96sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +312.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 +312.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 +312.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +313.00sINFOros2-8process has finished cleanly [pid 10205] ×2 +313.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +313.00sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +313.01sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +313.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 +313.01sINFOcontroller_managerSuccessfully switched controllers! ×14 +313.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4). +313.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4).[0m ×2 +313.02sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +313.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +313.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +313.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 +313.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 +313.37sINFOros2-3process has finished cleanly [pid 10200] ×2 +313.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +313.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +313.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +313.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +313.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +313.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 +313.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +313.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 +313.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 +313.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 +313.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 +313.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +313.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +313.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 +313.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 +313.76sINFOros2-4process has finished cleanly [pid 10201] ×2 +313.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +313.80sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +313.80sINFOforce_torque_sensor_broadcasterconfigure successful +313.81sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +313.81sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +314.15sINFOros2-2process has finished cleanly [pid 10199] ×2 +314.16sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... +314.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' +314.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +314.24sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 +314.24sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 +314.25sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +314.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' +314.26sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +314.26sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +314.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +314.28sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 +314.28sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 +314.29sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 +314.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 +314.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +314.54sINFOcontroller_managerLoading controller 'velocity_force_controller' +314.60sINFOros2-6process has finished cleanly [pid 10203] ×2 +314.61sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 +314.61sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 +314.66sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +314.66sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +314.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). +314.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 +314.69sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 +314.69sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 +314.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +314.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +315.03sINFOros2-7process has finished cleanly [pid 10204] ×2 +315.04sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... +315.05sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +315.05sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +315.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 +315.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 +315.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +315.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +315.09sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +315.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +315.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +315.09sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 +315.09sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +315.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +315.12sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +315.43sINFOros2-5process has finished cleanly [pid 10202] ×2 +315.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). +315.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 +315.94sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 +315.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 +315.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 +315.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 +315.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 +316.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 +316.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 +316.56sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +316.62sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 +316.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). +316.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 +317.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +317.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 +317.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +317.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). +317.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 +318.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	23 warnings · 354 info
+ 0.00sINFOros2-2process has finished cleanly [pid 10199] ×2 + 0.00sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.10sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.39sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.44sINFOros2-6process has finished cleanly [pid 10203] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 + 0.53sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.88sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.89sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.89sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.89sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.89sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.90sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.90sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.93sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.93sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.93sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.93sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.94sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.94sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.94sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.94sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.97sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.28sINFOros2-5process has finished cleanly [pid 10202] ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 3.68sWARNros2_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 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_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 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.41sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	23 warnings · 410 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.15sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.15sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.15sINFOros2-4process has finished cleanly [pid 10201] ×2 + 0.20sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.20sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.20sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.20sINFOforce_torque_sensor_broadcasterconfigure successful + 0.20sINFOros2_control_nodeconfigure successful[0m ×2 + 0.21sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.21sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.21sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.55sINFOros2-2process has finished cleanly [pid 10199] ×2 + 0.56sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.56sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.56sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.64sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.64sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.65sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.65sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.66sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.66sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.68sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 + 0.69sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 + 0.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.94sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.94sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.00sINFOros2-6process has finished cleanly [pid 10203] ×2 + 1.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 + 1.09sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 + 1.09sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOros2-7process has finished cleanly [pid 10204] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.52sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.52sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.83sINFOros2-5process has finished cleanly [pid 10202] ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 4.23sWARNros2_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 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.95sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.97sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.1s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	addtovector.xml	0.0s	6 warnings · 98 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/2026-08-02-17-46-42-548544-0a1d5ee40f47-10150 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_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. + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050132 ms (missed cycles : 2). + 2.06sINFOros2_control_node-1process started with pid [10198] ×2 + 2.06sINFOmove_group-9process started with pid [10235] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [10236] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [10237] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [10238] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [10239] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [10240] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [10241] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [10242] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [10243] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [10244] ×2 + 2.07sINFOweb_bridge-19process started with pid [10245] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [10309] ×2 + 2.07sINFOvideo_server-21process started with pid [10310] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [10311] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [10312] ×2 + 2.07sINFOros2-2process started with pid [10199] ×2 + 2.11sINFOros2-3process started with pid [10200] ×2 + 2.11sINFOros2-4process started with pid [10201] ×2 + 2.11sINFOros2-5process started with pid [10202] ×2 + 2.11sINFOros2-6process started with pid [10203] ×2 + 2.11sINFOros2-7process started with pid [10204] ×2 + 2.11sINFOros2-8process started with pid [10205] ×2 + 2.11sINFOcontroller_managerReceived robot description from topic. + 2.11sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.14sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.15sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.15sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.15sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.15sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.15sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.15sWARNros2_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 + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050132 ms (missed cycles : 2).[0m ×2 + 2.15sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.15sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.16sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.35sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.74sINFOvideo_server2026/08/02 17:46:46 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.74sINFOvideo_server2026/08/02 17:46:46 INF configuration loaded from /tmp/moveit-webrtc-_o41hol0/mediamtx.yml ×2 + 2.74sINFOvideo_server2026/08/02 17:46:46 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.74sINFOvideo_server2026/08/02 17:46:46 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.02sINFOmove_group[2026-08-02 17:46:46.336] [moveit_pro_license] [info] ×2 + 3.02sINFOmove_group************************************************* ×4 + 3.02sINFOmove_group* MoveIt Pro License ×2 + 3.02sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	23 warnings · 470 info
+ 0.00sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 10205] ×2 + 0.11sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.11sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.11sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.11sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4).[0m ×2 + 0.12sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.12sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 10200] ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.53sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.53sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.85sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.86sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.86sINFOros2-4process has finished cleanly [pid 10201] ×2 + 0.90sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.90sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.91sINFOforce_torque_sensor_broadcasterconfigure successful + 0.91sINFOros2_control_nodeconfigure successful[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.91sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 10199] ×2 + 1.26sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.26sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 1.26sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.34sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.36sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.38sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 + 1.45sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.65sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.65sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.70sINFOros2-6process has finished cleanly [pid 10203] ×2 + 1.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.76sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.76sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 + 1.79sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.14sINFOros2-7process has finished cleanly [pid 10204] ×2 + 2.14sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.15sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 2.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 2.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.22sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.54sINFOros2-5process has finished cleanly [pid 10202] ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 4.93sWARNros2_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 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_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 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.67sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2
− skipped	—	createvector.xml	0.0s	23 warnings · 470 info
+ 0.00sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 10205] ×2 + 0.11sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.11sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.11sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.11sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4).[0m ×2 + 0.12sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.12sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 10200] ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.53sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.53sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.85sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.86sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.86sINFOros2-4process has finished cleanly [pid 10201] ×2 + 0.90sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.90sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.91sINFOforce_torque_sensor_broadcasterconfigure successful + 0.91sINFOros2_control_nodeconfigure successful[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.91sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 10199] ×2 + 1.26sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.26sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 1.26sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.34sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.36sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.38sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 + 1.45sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.65sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.65sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.70sINFOros2-6process has finished cleanly [pid 10203] ×2 + 1.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.76sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.76sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 + 1.79sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.14sINFOros2-7process has finished cleanly [pid 10204] ×2 + 2.14sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.15sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 2.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 2.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.22sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.54sINFOros2-5process has finished cleanly [pid 10202] ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 4.93sWARNros2_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 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_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 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.67sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	23 warnings · 470 info
+ 0.00sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 10205] ×2 + 0.11sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.11sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.11sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.11sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 0.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078886 ms (missed cycles : 4).[0m ×2 + 0.12sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.12sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.47sINFOros2-3process has finished cleanly [pid 10200] ×2 + 0.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.53sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.53sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.85sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.85sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.86sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.86sINFOros2-4process has finished cleanly [pid 10201] ×2 + 0.90sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.90sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.90sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.91sINFOforce_torque_sensor_broadcasterconfigure successful + 0.91sINFOros2_control_nodeconfigure successful[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.91sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 10199] ×2 + 1.26sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.26sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 1.26sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.27sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.34sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.36sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.38sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 + 1.45sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.65sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.65sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.70sINFOros2-6process has finished cleanly [pid 10203] ×2 + 1.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.76sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.76sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.76sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 + 1.79sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.98sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.14sINFOros2-7process has finished cleanly [pid 10204] ×2 + 2.14sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.15sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.15sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 2.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 2.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.19sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.19sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.19sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.22sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.22sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.54sINFOros2-5process has finished cleanly [pid 10202] ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 4.93sWARNros2_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 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_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 + 6.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.67sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	request_teleoperation.xml	0.0s	20 warnings · 410 info
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.08sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.08sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.15sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.15sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.15sINFOros2-4process has finished cleanly [pid 10201] ×2 + 0.20sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.20sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.20sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.20sINFOforce_torque_sensor_broadcasterconfigure successful + 0.20sINFOros2_control_nodeconfigure successful[0m ×2 + 0.21sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.21sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.21sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.21sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.55sINFOros2-2process has finished cleanly [pid 10199] ×2 + 0.56sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.56sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.56sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.64sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.64sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.65sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.65sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.66sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.66sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.66sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.68sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 + 0.69sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 + 0.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.94sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.94sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.00sINFOros2-6process has finished cleanly [pid 10203] ×2 + 1.01sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.01sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.06sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.06sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 + 1.09sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 + 1.09sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOros2-7process has finished cleanly [pid 10204] ×2 + 1.44sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.45sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.45sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.45sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 1.45sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 1.48sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.48sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.48sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.48sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.49sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.49sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.49sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.49sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.49sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.49sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.49sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.49sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.52sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.52sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.83sINFOros2-5process has finished cleanly [pid 10202] ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 4.23sWARNros2_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 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.95sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.97sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2
− skipped	—	teleoperate.xml	0.0s	23 warnings · 351 info
+ 0.00sINFOros2-2process has finished cleanly [pid 10199] ×2 + 0.00sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 0.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.01sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.10sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-08-02 17:46:50.775] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785692810.79729056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOros2_control_node[2026-08-02 17:46:50.799] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.13sINFOros2_control_node[2026-08-02 17:46:50.799] [info] Controller state will be published at 50 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-02 17:46:50.804] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785692810.80753446 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.20sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.39sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.39sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.39sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.44sINFOros2-6process has finished cleanly [pid 10203] ×2 + 0.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437298 ms (missed cycles : 4).[0m ×2 + 0.53sINFOros2_control_node[2026-08-02 17:46:51.204] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-08-02 17:46:51.205] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.88sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.89sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.89sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.89sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.89sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.90sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.90sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.93sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.93sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.93sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.93sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.94sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.94sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.94sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.94sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.97sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.28sINFOros2-5process has finished cleanly [pid 10202] ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 3.68sWARNros2_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 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_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 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.41sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2

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

10 skip

− skipped	—	interpolate_to_joint_state.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 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	23 warnings · 279 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2 + 7.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.18sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.20sINFOros2_control_node[2026-08-02 17:46:58.592] [info] Received new action goal ×2 + 7.20sINFOros2_control_node[2026-08-02 17:46:58.592] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147133 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147133 ms (missed cycles : 4).[0m ×2 + 7.55sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2

▾/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	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	20 warnings · 266 info
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785692811.39855123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.16sINFOros2-7process has finished cleanly [pid 10204] ×2 + 0.16sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 + 0.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3u13anw3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_eh81u2a7 --params-file /tmp/launch_params_3l1lbc40 [0m ×2 + 0.20sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.21sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.21sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.21sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.21sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.55sINFOros2-5process has finished cleanly [pid 10202] ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165352 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785692812.45869660 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785692813.08206391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785692813.14221907 seconds ×3 + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373511 ms (missed cycles : 5).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785692813.79527426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785692813.81539989 seconds ×3 + 2.95sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785692814.40471625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188687 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785692814.55541205 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785692815.27383733 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785692815.31401300 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282221 ms (missed cycles : 2).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785692815.94807220 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (2.6599e-05 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-08-02 17:46:56.084] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314921 ms (missed cycles : 5).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089250 ms (missed cycles : 4).[0m ×2