116
Total objective tests
34
Objectives passed
0
Objectives failed
82
Objectives skipped
7.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass53 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.2s | 156 warnings · 302 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441846.93432927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3).[0m ×2 + 0.38sINFOobjective_server_node[2026-07-30 20:04:07.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912103097 [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 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912133918 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-07-30 20:04:08.043] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460519134 [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 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460551335 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-07-30 20:04:08.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.588394984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592134019 [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 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592181400 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.68sINFOobjective_server_node[2026-07-30 20:04:08.611] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.97sINFOobjective_server_node[0;93m2026-07-30 20:04:08.904795249 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925180110 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925212871 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441850.39943981 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441851.09112501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.24sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3).[0m ×2 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 7.43sINFOros2_control_node[2026-07-30 20:04:14.366] [info] Received new action goal ×2 + 7.43sINFOros2_control_node[2026-07-30 20:04:14.366] [info] Accepted new action goal ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083433 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083433 ms (missed cycles : 4).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802590 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802590 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199594 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199594 ms (missed cycles : 2).[0m ×2 + 10.59sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.60sINFOros2_control_node[2026-07-30 20:04:17.535] [info] Received new action goal ×2 + 10.60sINFOros2_control_node[2026-07-30 20:04:17.536] [info] Accepted new action goal ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632023 ms (missed cycles : 6). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632023 ms (missed cycles : 6).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994628 ms (missed cycles : 3). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994628 ms (missed cycles : 3).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994700 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994700 ms (missed cycles : 2).[0m ×2 + 13.57sINFOobjective_server_nodeFound path in 0 iterations (7e-07 s). ×2 + 13.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.62sINFOros2_control_node[2026-07-30 20:04:20.554] [info] Received new action goal ×2 + 13.62sINFOros2_control_node[2026-07-30 20:04:20.554] [info] Accepted new action goal ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022029 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022029 ms (missed cycles : 2).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698591 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698591 ms (missed cycles : 2).[0m ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723211 ms (missed cycles : 6). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.723211 ms (missed cycles : 6).[0m ×2 + 16.59sINFOobjective_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 + 16.60sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.60sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.60sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.60sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.60sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924817 ms (missed cycles : 2). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924817 ms (missed cycles : 2).[0m ×2 + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942161 ms (missed cycles : 2). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942161 ms (missed cycles : 2).[0m ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.429204 ms (missed cycles : 7). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.429204 ms (missed cycles : 7).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753493 ms (missed cycles : 2). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753493 ms (missed cycles : 2).[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.333119 ms (missed cycles : 7). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.333119 ms (missed cycles : 7).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681240 ms (missed cycles : 5). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681240 ms (missed cycles : 5).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902697 ms (missed cycles : 2). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902697 ms (missed cycles : 2).[0m ×2 + 23.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.41sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.42sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.42sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.42sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581026 ms (missed cycles : 7). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.581026 ms (missed cycles : 7).[0m ×2 + 24.35sINFOros2_control_node[2026-07-30 20:04:31.287] [info] Received new action goal ×2 + 24.35sINFOros2_control_node[2026-07-30 20:04:31.287] [info] Accepted new action goal ×2 + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637135 ms (missed cycles : 3). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637135 ms (missed cycles : 3).[0m ×2 + 25.52sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.53sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.82sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 25.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.85sINFOros2_control_node[2026-07-30 20:04:32.788] [info] Received new action goal ×2 + 25.85sINFOros2_control_node[2026-07-30 20:04:32.788] [info] Accepted new action goal ×2 + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201177 ms (missed cycles : 2). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201177 ms (missed cycles : 2).[0m ×2 + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760029 ms (missed cycles : 5). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.760029 ms (missed cycles : 5).[0m ×2 + 27.96sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 27.97sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.98sINFOros2_control_node[2026-07-30 20:04:34.909] [info] Received new action goal ×2 + 27.98sINFOros2_control_node[2026-07-30 20:04:34.909] [info] Accepted new action goal ×2 + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503748 ms (missed cycles : 3). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503748 ms (missed cycles : 3).[0m ×2 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951606 ms (missed cycles : 2). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951606 ms (missed cycles : 2).[0m ×2 + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658486 ms (missed cycles : 3). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658486 ms (missed cycles : 3).[0m ×2 + 31.00sINFOros2_control_node[2026-07-30 20:04:37.935] [info] Received new action goal ×2 + 31.00sINFOros2_control_node[2026-07-30 20:04:37.935] [info] Accepted new action goal ×2 + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722837 ms (missed cycles : 3). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722837 ms (missed cycles : 3).[0m ×2 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695650 ms (missed cycles : 3). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695650 ms (missed cycles : 3).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012235 ms (missed cycles : 5). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012235 ms (missed cycles : 5).[0m ×2 + 33.58sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 33.58sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.62sINFOros2_control_node[2026-07-30 20:04:40.558] [info] Received new action goal ×2 + 33.62sINFOros2_control_node[2026-07-30 20:04:40.558] [info] Accepted new action goal ×2 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706015 ms (missed cycles : 2). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706015 ms (missed cycles : 2).[0m ×2 + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371183 ms (missed cycles : 4). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371183 ms (missed cycles : 4).[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302139 ms (missed cycles : 4). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.302139 ms (missed cycles : 4).[0m ×2 + 37.61sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202053 ms (missed cycles : 4). + 37.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202053 ms (missed cycles : 4).[0m ×2 + 38.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267400 ms (missed cycles : 2). + 38.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267400 ms (missed cycles : 2).[0m ×2 + 39.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661103 ms (missed cycles : 3). + 39.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661103 ms (missed cycles : 3).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615351 ms (missed cycles : 3). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615351 ms (missed cycles : 3).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368089 ms (missed cycles : 3). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368089 ms (missed cycles : 3).[0m ×2 + 42.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530815 ms (missed cycles : 3). + 42.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530815 ms (missed cycles : 3).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851220 ms (missed cycles : 3). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851220 ms (missed cycles : 3).[0m ×2 + 44.50sINFOros2_control_node[2026-07-30 20:04:51.435] [info] Received new action goal ×2 + 44.50sINFOros2_control_node[2026-07-30 20:04:51.435] [info] Accepted new action goal ×2 + 44.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980811 ms (missed cycles : 2). + 44.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980811 ms (missed cycles : 2).[0m ×2 + 45.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785441892.59258485 seconds ×3 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.423823 ms (missed cycles : 6). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.423823 ms (missed cycles : 6).[0m ×2 + 46.44sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785441893.37887073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903290 ms (missed cycles : 2). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903290 ms (missed cycles : 2).[0m ×2 + 47.66sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 47.66sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.67sINFOros2_control_node[2026-07-30 20:04:54.604] [info] Received new action goal ×2 + 47.67sINFOros2_control_node[2026-07-30 20:04:54.604] [info] Accepted new action goal ×2 + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385655 ms (missed cycles : 3). + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385655 ms (missed cycles : 3).[0m ×2 + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153833 ms (missed cycles : 4). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153833 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.8s | 3 errors · 114 warnings · 255 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186501 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186501 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279986 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279986 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862212 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862212 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_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 + 2.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.06sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785441919.77857137 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201394 ms (missed cycles : 3). + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201394 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785441920.53120446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeFound path in 5 iterations (0.0051241 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 20:05:20.756] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 20:05:20.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341263 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341263 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040880 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040880 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162494 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162494 ms (missed cycles : 5).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057484 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057484 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421574 ms (missed cycles : 3). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421574 ms (missed cycles : 3).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979686 ms (missed cycles : 5). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979686 ms (missed cycles : 5).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554591 ms (missed cycles : 4). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554591 ms (missed cycles : 4).[0m ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223599 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223599 ms (missed cycles : 2).[0m ×2 + 11.59sINFOobjective_server_node[2026-07-30 20:05:28.314] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.17sINFOobjective_server_node[0;m[0;93m2026-07-30 20:05:28.890487017 [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 + 12.17sINFOobjective_server_node[0;93m2026-07-30 20:05:28.890517578 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.27sINFOobjective_server_node[2026-07-30 20:05:28.989] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779533 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779533 ms (missed cycles : 3).[0m ×2 + 12.67sINFOobjective_server_node[0;93m2026-07-30 20:05:29.389181981 [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 + 12.67sINFOobjective_server_node[0;93m2026-07-30 20:05:29.389211882 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.73sINFOobjective_server_node[2026-07-30 20:05:29.452] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.77sINFOobjective_server_node[0;93m2026-07-30 20:05:29.490587750 [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 + 12.77sINFOobjective_server_node[0;93m2026-07-30 20:05:29.492657972 [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 + 12.77sINFOobjective_server_node[0;93m2026-07-30 20:05:29.492677712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.78sINFOobjective_server_node[2026-07-30 20:05:29.504] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.06sINFOobjective_server_node[0;93m2026-07-30 20:05:29.776523256 [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 + 13.07sINFOobjective_server_node[0;93m2026-07-30 20:05:29.795571441 [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 + 13.07sINFOobjective_server_node[0;93m2026-07-30 20:05:29.795604302 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731307 ms (missed cycles : 2). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731307 ms (missed cycles : 2).[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473986 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473986 ms (missed cycles : 3).[0m ×2 + 14.81sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.179937 ms (missed cycles : 8). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.179937 ms (missed cycles : 8).[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893634 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893634 ms (missed cycles : 2).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008965 ms (missed cycles : 4). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.008965 ms (missed cycles : 4).[0m ×2 + 18.02sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 18.36sINFOobjective_server_nodeFound path in 4 iterations (0.00210993 s). ×2 + 18.41sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.44sINFOobjective_server_nodeFound path in 12 iterations (0.00310149 s). ×2 + 18.49sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.52sINFOobjective_server_nodeFound path in 1 iterations (0.00265779 s). ×2 + 18.56sINFOobjective_server_nodePath shortcutter: [X______________________________________X__________________X] ×2 + 18.59sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 18.61sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 18.65sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.66sINFOobjective_server_nodeFound path in 12 iterations (0.00424436 s). ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985785 ms (missed cycles : 3). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985785 ms (missed cycles : 3).[0m ×2 + 18.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 18.72sINFOobjective_server_nodeFound path in 1 iterations (0.00258651 s). ×2 + 18.75sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 18.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.82sINFOobjective_server_nodeFound path in 4 iterations (0.00495303 s). ×2 + 18.89sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.91sINFOobjective_server_nodeFound path in 4 iterations (0.00211875 s). ×2 + 18.97sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 19.01sINFOobjective_server_nodeFound path in 1 iterations (0.00507213 s). ×2 + 19.05sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.07sINFOobjective_server_nodeFound path in 1 iterations (0.00191086 s). ×2 + 19.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] ×2 + 19.15sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 19.17sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.19sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 19.23sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X] ×2 + 19.26sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 19.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 19.34sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 19.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 19.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.61sINFOros2_control_node[2026-07-30 20:05:36.328] [info] Received new action goal ×2 + 19.61sINFOros2_control_node[2026-07-30 20:05:36.328] [info] Accepted new action goal ×2 + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083306 ms (missed cycles : 2). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083306 ms (missed cycles : 2).[0m ×2 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895530 ms (missed cycles : 4). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895530 ms (missed cycles : 4).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970628 ms (missed cycles : 2). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970628 ms (missed cycles : 2).[0m ×2 + 22.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233260 ms (missed cycles : 4). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233260 ms (missed cycles : 4).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.909126 ms (missed cycles : 6). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.909126 ms (missed cycles : 6).[0m ×2 + 24.61sINFOros2_control_node[2026-07-30 20:05:41.330] [info] Received new action goal ×2 + 24.61sINFOros2_control_node[2026-07-30 20:05:41.330] [info] Accepted new action goal ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520785 ms (missed cycles : 4). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520785 ms (missed cycles : 4).[0m ×2 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994093 ms (missed cycles : 2). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994093 ms (missed cycles : 2).[0m ×2 + 26.12sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 26.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.14sINFOros2_control_node[2026-07-30 20:05:42.861] [info] Received new action goal ×2 + 26.14sINFOros2_control_node[2026-07-30 20:05:42.861] [info] Accepted new action goal ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709057 ms (missed cycles : 3). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709057 ms (missed cycles : 3).[0m ×2 + 27.35sWARNobjective_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 + 27.35sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.38sINFOros2_control_node[2026-07-30 20:05:44.103] [info] Received new action goal ×2 + 27.38sINFOros2_control_node[2026-07-30 20:05:44.103] [info] Accepted new action goal ×2 + 27.82sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692817 ms (missed cycles : 2). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692817 ms (missed cycles : 2).[0m ×2 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363966 ms (missed cycles : 4). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363966 ms (missed cycles : 4).[0m ×2 + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861968 ms (missed cycles : 4). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861968 ms (missed cycles : 4).[0m ×2 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997903 ms (missed cycles : 8). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997903 ms (missed cycles : 8).[0m ×2 + 32.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592973 ms (missed cycles : 3). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592973 ms (missed cycles : 3).[0m ×2 + 32.82sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785441949.53863406 seconds ×3 + 32.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267657 ms (missed cycles : 4). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267657 ms (missed cycles : 4).[0m ×2 + 33.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785441950.24069023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.71sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 33.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.72sINFOros2_control_node[2026-07-30 20:05:50.444] [info] Received new action goal ×2 + 33.72sINFOros2_control_node[2026-07-30 20:05:50.444] [info] Accepted new action goal ×2 + 34.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510744 ms (missed cycles : 6). + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510744 ms (missed cycles : 6).[0m ×2 + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981562 ms (missed cycles : 5). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981562 ms (missed cycles : 5).[0m ×2 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715847 ms (missed cycles : 3). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715847 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 23.8s | 3 errors · 93 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_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 + 2.18sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Got request to cancel active goal. ×2 + 2.19sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1785441771.68741512 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441772.29357553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441772.39370894 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441773.03986263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871091 ms (missed cycles : 5). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.871091 ms (missed cycles : 5).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980039 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980039 ms (missed cycles : 2).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164200 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164200 ms (missed cycles : 2).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890150 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890150 ms (missed cycles : 2).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283405 ms (missed cycles : 4). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283405 ms (missed cycles : 4).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433074 ms (missed cycles : 5). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.433074 ms (missed cycles : 5).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.607341 ms (missed cycles : 6). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.607341 ms (missed cycles : 6).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393666 ms (missed cycles : 6). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393666 ms (missed cycles : 6).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481553 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481553 ms (missed cycles : 3).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077754 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077754 ms (missed cycles : 3).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747962 ms (missed cycles : 3). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.747962 ms (missed cycles : 3).[0m ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700565 ms (missed cycles : 2). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700565 ms (missed cycles : 2).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.633828 ms (missed cycles : 6). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.633828 ms (missed cycles : 6).[0m ×2 + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710915 ms (missed cycles : 2). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710915 ms (missed cycles : 2).[0m ×2 + 21.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 21.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 21.13sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 21.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 21.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 21.42sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 21.42sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 21.44sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 21.47sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 21.49sINFOobjective_server_nodeFound path in 5 iterations (0.00306795 s). ×2 + 21.53sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 21.59sINFOros2_control_node[2026-07-30 20:03:11.081] [info] Received new action goal ×2 + 21.59sINFOros2_control_node[2026-07-30 20:03:11.081] [info] Accepted new action goal ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.826887 ms (missed cycles : 7). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.826887 ms (missed cycles : 7).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597372 ms (missed cycles : 3). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597372 ms (missed cycles : 3).[0m ×2 + 23.82sINFOros2_control_node[2026-07-30 20:03:13.303] [info] Received new action goal ×2 + 23.82sINFOros2_control_node[2026-07-30 20:03:13.303] [info] Accepted new action goal ×2 + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486543 ms (missed cycles : 4). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486543 ms (missed cycles : 4).[0m ×2 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2).[0m ×2 + 25.47sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 25.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 25.49sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Received new action goal ×2 + 25.49sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Accepted new action goal ×2 + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2).[0m ×2 + 26.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441796.25768471 seconds ×3 + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2).[0m ×2 + 27.41sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441796.89525962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.49sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441796.97539973 seconds ×3 + 28.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441797.61317825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.22sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 28.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 28.23sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Received new action goal ×2 + 28.24sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Accepted new action goal ×2 + 28.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3). + 28.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3).[0m ×2 + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4).[0m ×2 + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 54 warnings · 179 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094513 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094513 ms (missed cycles : 5).[0m ×2 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (1.7e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 0.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.53sINFOobjective_server_nodeFound path in 5 iterations (0.00381196 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.65sINFOros2_control_node[2026-07-30 20:03:47.455] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-07-30 20:03:47.455] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947725 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947725 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-07-30 20:03:47.847] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-07-30 20:03:47.847] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980740 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980740 ms (missed cycles : 2).[0m ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.97sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.98sERRORobjective_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: 1785441829.79183459 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264844 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264844 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785441830.59188771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-07-30 20:03:50.771] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-07-30 20:03:50.771] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410699 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410699 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997173 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997173 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732009 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732009 ms (missed cycles : 2).[0m ×2 + 6.36sINFOros2_control_node[2026-07-30 20:03:53.163] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-07-30 20:03:53.163] [info] Accepted new action goal ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417023 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417023 ms (missed cycles : 4).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.617441 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.617441 ms (missed cycles : 4).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241294 ms (missed cycles : 5). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.241294 ms (missed cycles : 5).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948885 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948885 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048698 ms (missed cycles : 5). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.048698 ms (missed cycles : 5).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066875 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066875 ms (missed cycles : 3).[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709494 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709494 ms (missed cycles : 2).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905894 ms (missed cycles : 3). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905894 ms (missed cycles : 3).[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785441841.73491335 seconds ×3 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416547 ms (missed cycles : 3). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416547 ms (missed cycles : 3).[0m ×2 + 15.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785441842.39225817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.66sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785441842.47238803 seconds ×3 + 16.44sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441843.25334668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2).[0m ×2 + 16.53sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 16.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.54sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Received new action goal ×2 + 16.54sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Accepted new action goal ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 18 errors · 57 warnings · 235 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530815 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530815 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_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 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.62sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.62sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.62sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.62sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851220 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851220 ms (missed cycles : 3).[0m ×2 + 1.70sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.71sINFOros2_control_node[2026-07-30 20:04:51.435] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-07-30 20:04:51.435] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980811 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980811 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785441892.59258485 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.423823 ms (missed cycles : 6). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.423823 ms (missed cycles : 6).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785441893.37887073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903290 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903290 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 4.87sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.88sINFOros2_control_node[2026-07-30 20:04:54.604] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-07-30 20:04:54.604] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385655 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385655 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153833 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153833 ms (missed cycles : 4).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566976 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566976 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364651 ms (missed cycles : 4). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.364651 ms (missed cycles : 4).[0m ×2 + 8.57sINFOobjective_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 ×6 + 8.57sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.58sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.58sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.58sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702560 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702560 ms (missed cycles : 2).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172968 ms (missed cycles : 4). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172968 ms (missed cycles : 4).[0m ×2 + 10.98sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.99sINFOros2_control_node[2026-07-30 20:05:00.721] [info] Received new action goal ×2 + 10.99sINFOros2_control_node[2026-07-30 20:05:00.721] [info] Accepted new action goal ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252568 ms (missed cycles : 4). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252568 ms (missed cycles : 4).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220472 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220472 ms (missed cycles : 2).[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.398420 ms (missed cycles : 6). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.398420 ms (missed cycles : 6).[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271718 ms (missed cycles : 6). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271718 ms (missed cycles : 6).[0m ×2 + 14.60sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785441904.33182049 seconds ×3 + 15.26sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441904.98622870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 15.40sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.41sINFOros2_control_node[2026-07-30 20:05:05.139] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-07-30 20:05:05.139] [info] Accepted new action goal ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.723142 ms (missed cycles : 11). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.723142 ms (missed cycles : 11).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513241 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513241 ms (missed cycles : 3).[0m ×2 + 16.68sINFOobjective_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 + 16.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.03sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 17.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11).[0m ×2 + 18.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441907.75857997 seconds ×3 + 18.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 18.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 18.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 18.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 18.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 18.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 69 errors · 36 warnings · 381 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2).[0m ×2 + 0.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Got request to cancel active goal. ×2 + 0.63sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Canceling active goal... ×2 + 0.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785442005.17856598 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442005.76216602 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 5.566845 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442006.94232106 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785442007.54453206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.00sINFOobjective_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 + 3.00sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785442007.54662848 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785442008.18454385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785442008.18506503 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785442008.75936913 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 1.971135 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971135 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707083 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707083 ms (missed cycles : 6).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785442009.97950721 seconds ×3 + 5.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097208 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097208 ms (missed cycles : 5).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115349 ms (missed cycles : 5). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.115349 ms (missed cycles : 5).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264130 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264130 ms (missed cycles : 3).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346503 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346503 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524629 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524629 ms (missed cycles : 3).[0m ×2 + 10.77sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.79sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORweb_video_auth_proxy-23process has died [pid 9032, 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 + 10.79sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.81sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORweb_bridge_auth_proxy-22process has died [pid 9031, 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 + 10.81sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.83sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.84sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.85sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.86sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.86sINFOvideo_server-21process has finished cleanly [pid 9030] ×2 + 10.87sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.88sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.89sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.89sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.91sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.91sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.92sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.93sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.94sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.95sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.95sINFOcontroller_managerShutdown request received.... + 10.95sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.95sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.95sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.95sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.95sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.95sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.95sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.95sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.95sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.95sINFOvideo_server2026/07/30 20:06:55 INF shutting down gracefully ×2 + 10.95sINFOvideo_server2026/07/30 20:06:55 INF [WebRTC] closing ×2 + 10.95sINFOvideo_server2026/07/30 20:06:55 INF [RTSP] closing ×2 + 10.95sINFOvideo_server2026/07/30 20:06:55 INF waiting for running hooks ×2 + 10.95sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.95sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.95sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.95sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.95sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.95sINFOcontroller_managerShutting down the controller manager. + 10.96sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.96sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.96sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.96sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.96sINFOui_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 + 10.96sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.96sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.96sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.96sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.96sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.96sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.96sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.96sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.96sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.96sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.96sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.96sERRORmove_groupStack trace (most recent call last) in thread 9361: ×2 + 10.96sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.96sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f05fe782a63, in __clone ×2 + 10.96sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f05fe6f5aa3, in ×2 + 10.96sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f05fe987db3, in ×2 + 10.96sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f05ff0caed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.96sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f05fecfa4d0, in rclcpp::Rate::sleep() ×2 + 10.96sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f05fec4da88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.96sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f05fec12a71, in ×2 + 10.96sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f05fe956390, in __cxa_throw ×2 + 10.96sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f05fe940a54, in std::terminate() ×2 + 10.96sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f05fe9560d9, in ×2 + 10.96sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f05fe940ff4, in ×2 + 10.96sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f05fe6818fe, in abort ×2 + 10.96sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f05fe69e27d, in raise ×2 + 10.96sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f05fe6f7b2c, in pthread_kill ×2 + 10.96sERRORmove_groupAborted (Signal sent by tkill() 8955 0) ×2 + 10.98sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.98sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.98sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.98sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.98sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.98sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.98sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.98sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.98sERRORmove_group-9process has died [pid 8955, 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_sur2lq_t --params-file /tmp/launch_params_rxkwtoqt --params-file /tmp/launch_params_en6oclq4 --params-file /tmp/launch_params_e_so5onl --params-file /tmp/launch_params_vqa8gre2 --params-file /tmp/launch_params_twa0vutt']. ×2 + 11.03sINFOobjective_server_node[0;m[2026-07-30 20:06:55.577] [moveit_pro_license] [info] ×2 + 11.03sINFOobjective_server_node************************************************* ×4 + 11.03sINFOobjective_server_node* MoveIt Pro License ×2 + 11.03sINFOobjective_server_node* Application has successfully terminated ×2 + 11.07sINFOobjective_server_nodecorrupted double-linked list ×2 + 11.07sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.08sINFOobjective_server_node#20 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.08sINFOobjective_server_node#19 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56454abb96a4, in _start ×2 + 11.08sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007ca928a, in __libc_start_main ×2 + 11.08sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007ca91d0, in ×2 + 11.08sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007cc6bbd, in exit ×2 + 11.08sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007cc6a75, in ×2 + 11.09sINFOobjective_server_node#14 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7fbfbbe69c41, in Ort::detail::Base<OrtEnv>::~Base() ×2 + 11.09sINFOobjective_server_node#13 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7fbfbac44704, in ×2 + 11.09sINFOobjective_server_node#12 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7fbfbacbb052, in ×2 + 11.09sINFOobjective_server_node#11 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7fbfbb3b7176, in ×2 + 11.09sINFOobjective_server_node#10 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7fbfbb3b7079, in ×2 + 11.09sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007d2cdcd, in __libc_free ×2 + 11.09sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007d2a439, in ×2 + 11.09sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007d29da4, in ×2 + 11.09sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007d28d2a, in ×2 + 11.09sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007d28b7b, in ×2 + 11.10sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007d27ff4, in ×2 + 11.10sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007ca87b5, in ×2 + 11.10sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007ca78fe, in abort ×2 + 11.10sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007cc427d, in raise ×2 + 11.10sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fc007d1db2c, in pthread_kill ×2 + 11.10sERRORobjective_server_nodeAborted (Signal sent by tkill() 8960 0) ×2 + 11.18sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.18sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 11.19sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 11.71sERRORobjective_server_node_main-14process has died [pid 8960, 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_ceq66xed --params-file /tmp/launch_params_of65w0pk --params-file /tmp/launch_params_e8vpghak --params-file /tmp/launch_params_nz5nysqz --params-file /tmp/launch_params_aua5egpd --params-file /tmp/launch_params_0lp0r50z --params-file /tmp/launch_params_xl92co2i --params-file /tmp/launch_params_wse6djn2 --params-file /tmp/launch_params_zabkrmn_']. ×2 + 11.71sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.88sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9029] ×2 + 11.88sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.94sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8959] ×2 + 11.95sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8958] ×2 + 11.95sINFOexecute_objective_bridge-17process has finished cleanly [pid 8963] ×2 + 11.96sERRORui_teleop_bridge-18process has died [pid 8964, 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_nq5kqye2']. ×2 + 11.97sINFOcomponent_container_mt-16process has finished cleanly [pid 8962] ×2 + 11.99sINFOparameter_manager_node-10process has finished cleanly [pid 8956] ×2 + 12.00sINFOwaypoint_manager_node-11process has finished cleanly [pid 8957] ×2 + 12.10sINFOcomponent_container_mt-15process has finished cleanly [pid 8961] ×2 + 12.96sINFOweb_bridge-19process has finished cleanly [pid 8965] ×2 + 12.96sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.69sINFOros2_control_node-1process has finished cleanly [pid 8918] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 57 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861968 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861968 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997903 ms (missed cycles : 8). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997903 ms (missed cycles : 8).[0m ×2 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592973 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592973 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785441949.53863406 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267657 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267657 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785441950.24069023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-07-30 20:05:50.444] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-07-30 20:05:50.444] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510744 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510744 ms (missed cycles : 6).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981562 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981562 ms (missed cycles : 5).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715847 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715847 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647643 ms (missed cycles : 3). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647643 ms (missed cycles : 3).[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 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564715 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564715 ms (missed cycles : 3).[0m ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 5 iterations (0.00322734 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 8.34sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.36sINFOros2_control_node[2026-07-30 20:05:55.040] [info] Received new action goal ×2 + 8.36sINFOros2_control_node[2026-07-30 20:05:55.040] [info] Accepted new action goal ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805354 ms (missed cycles : 3). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805354 ms (missed cycles : 3).[0m ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172814 ms (missed cycles : 4). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172814 ms (missed cycles : 4).[0m ×2 + 10.59sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 10.59sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 12.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.25sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 12.25sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 13.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 14.67sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 14.86sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 14.86sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 16.77sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 6 errors · 54 warnings · 223 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083532 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083532 ms (missed cycles : 2).[0m ×2 + 0.73sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 0.73sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 0.73sINFOobjective_server_nodeFound detection with id: 0, label: %s ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 1.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.01sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 1.01sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 1.02sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×8 + 1.05sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×4 + 1.06sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104361 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104361 ms (missed cycles : 2).[0m ×2 + 1.10sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×4 + 1.16sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X] ×2 + 1.18sINFOobjective_server_nodeFound path in 5 iterations (0.00263537 s). ×2 + 1.21sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×4 + 1.24sINFOobjective_server_nodeFound path in 1 iterations (0.00264121 s). ×2 + 1.29sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×4 + 1.37sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×4 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.48sINFOros2_control_node[2026-07-30 20:03:36.782] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-07-30 20:03:36.782] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864421 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864421 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633512 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633512 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.38sINFOros2_control_node[2026-07-30 20:03:38.670] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-07-30 20:03:38.670] [info] Canceling active goal... ×2 + 3.38sERRORobjective_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: 1785441818.68390632 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.02sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785441819.31740618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116756 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116756 ms (missed cycles : 5).[0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×6 + 4.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-07-30 20:03:39.501] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-07-30 20:03:39.501] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797971 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797971 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.643968 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.643968 ms (missed cycles : 6).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340706 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340706 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.170333 ms (missed cycles : 5). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.170333 ms (missed cycles : 5).[0m ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 8.96sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 9.01sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.07sINFOobjective_server_nodeFound path in 5 iterations (0.00385838 s). ×2 + 9.13sINFOobjective_server_nodeFound path in 1 iterations (0.00198872 s). ×2 + 9.24sINFOros2_control_nodeMuJoCo sim: 0.40% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X] ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580276 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580276 ms (missed cycles : 3).[0m ×2 + 9.52sINFOros2_control_node[2026-07-30 20:03:44.823] [info] Received new action goal ×2 + 9.52sINFOros2_control_node[2026-07-30 20:03:44.823] [info] Accepted new action goal ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.652835 ms (missed cycles : 6). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.652835 ms (missed cycles : 6).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094513 ms (missed cycles : 5). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094513 ms (missed cycles : 5).[0m ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (1.7e-07 s). ×2 + 11.97sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.98sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 12.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 12.03sINFOobjective_server_nodeFound path in 5 iterations (0.00381196 s). ×2 + 12.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 12.15sINFOros2_control_node[2026-07-30 20:03:47.455] [info] Received new action goal ×2 + 12.15sINFOros2_control_node[2026-07-30 20:03:47.455] [info] Accepted new action goal ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947725 ms (missed cycles : 5). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947725 ms (missed cycles : 5).[0m ×2 + 12.55sINFOros2_control_node[2026-07-30 20:03:47.847] [info] Received new action goal ×2 + 12.55sINFOros2_control_node[2026-07-30 20:03:47.847] [info] Accepted new action goal ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980740 ms (missed cycles : 2). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980740 ms (missed cycles : 2).[0m ×2 + 14.48sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.48sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.48sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.48sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.49sERRORobjective_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: 1785441829.79183459 seconds ×3 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264844 ms (missed cycles : 4). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264844 ms (missed cycles : 4).[0m ×2 + 15.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785441830.59188771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.46sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 15.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.47sINFOros2_control_node[2026-07-30 20:03:50.771] [info] Received new action goal ×2 + 15.47sINFOros2_control_node[2026-07-30 20:03:50.771] [info] Accepted new action goal ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410699 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410699 ms (missed cycles : 3).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997173 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997173 ms (missed cycles : 3).[0m ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732009 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732009 ms (missed cycles : 2).[0m ×2 + 17.86sINFOros2_control_node[2026-07-30 20:03:53.163] [info] Received new action goal ×2 + 17.86sINFOros2_control_node[2026-07-30 20:03:53.163] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 66 warnings · 179 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738253 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738253 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741946 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741946 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786545 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786545 ms (missed cycles : 4).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409197 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409197 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785441982.12795329 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.43sINFOros2_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 + 4.06sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785441982.77971244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 20:06:22.893] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 20:06:22.893] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533294 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533294 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830461 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830461 ms (missed cycles : 3).[0m ×2 + 6.09sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114618 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114618 ms (missed cycles : 5).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040374 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040374 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299211 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299211 ms (missed cycles : 4).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123991 ms (missed cycles : 5). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123991 ms (missed cycles : 5).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168670 ms (missed cycles : 5). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168670 ms (missed cycles : 5).[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 14.45sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sERRORobjective_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: 1785441993.17267632 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 15.07sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 15.07sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.18sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 15.76sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 15.76sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOobjective_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 + 15.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 16.38sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.48sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 16.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.49sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 16.49sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 3 errors · 60 warnings · 101 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655907 ms (missed cycles : 3). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655907 ms (missed cycles : 3).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213572 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213572 ms (missed cycles : 3).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672717 ms (missed cycles : 3). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672717 ms (missed cycles : 3).[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.761595 ms (missed cycles : 5). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.761595 ms (missed cycles : 5).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429759 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429759 ms (missed cycles : 3).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225129 ms (missed cycles : 2). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225129 ms (missed cycles : 2).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717553 ms (missed cycles : 2). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717553 ms (missed cycles : 2).[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642766 ms (missed cycles : 3). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642766 ms (missed cycles : 3).[0m ×2 + 14.39sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.40sERRORobjective_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: 1785441971.67480469 seconds ×3 + 14.99sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. ×3 + 14.99sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785441972.26034641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 15.22sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.25sINFOros2_control_node[2026-07-30 20:06:12.518] [info] Received new action goal ×2 + 15.25sINFOros2_control_node[2026-07-30 20:06:12.518] [info] Accepted new action goal ×2 + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533321 ms (missed cycles : 3). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533321 ms (missed cycles : 3).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528454 ms (missed cycles : 5). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528454 ms (missed cycles : 5).[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558388 ms (missed cycles : 4). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558388 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 51 warnings · 332 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 1.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.10sINFOros2_control_node[2026-07-30 20:02:44.106] [info] Received new action goal ×2 + 6.10sINFOros2_control_node[2026-07-30 20:02:44.106] [info] Accepted new action goal ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340985 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340985 ms (missed cycles : 4).[0m ×2 + 6.53sINFOros2_control_nodeMuJoCo sim: 0.41% 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 8.869797 ms (missed cycles : 6). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.869797 ms (missed cycles : 6).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560764 ms (missed cycles : 3). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560764 ms (missed cycles : 3).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652325 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652325 ms (missed cycles : 3).[0m ×2 + 9.83sINFOros2_control_node[2026-07-30 20:02:47.836] [info] Received new action goal ×2 + 9.83sINFOros2_control_node[2026-07-30 20:02:47.836] [info] Accepted new action goal ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563948 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563948 ms (missed cycles : 4).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4).[0m ×2 + 13.12sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 13.12sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.14sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Received new action goal ×2 + 13.14sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Accepted new action goal ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5).[0m ×2 + 13.66sINFOobjective_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 + 13.66sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Got request to cancel active goal. ×2 + 13.66sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Canceling active goal... ×2 + 13.68sERRORobjective_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: 1785441771.68741512 seconds ×3 + 13.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441772.29357553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441772.39370894 seconds ×3 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441773.03986263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 15.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.21sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Received new action goal ×2 + 15.22sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Accepted new action goal ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 6 errors · 51 warnings · 154 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_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 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685116 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685116 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.930266 ms (missed cycles : 5). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.930266 ms (missed cycles : 5).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900750 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900750 ms (missed cycles : 3).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083532 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083532 ms (missed cycles : 2).[0m ×2 + 11.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 11.11sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 11.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 11.39sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 11.40sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 11.43sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 11.44sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104361 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104361 ms (missed cycles : 2).[0m ×2 + 11.48sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 11.54sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X] ×2 + 11.56sINFOobjective_server_nodeFound path in 5 iterations (0.00263537 s). ×2 + 11.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 11.62sINFOobjective_server_nodeFound path in 1 iterations (0.00264121 s). ×2 + 11.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 11.75sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 11.86sINFOros2_control_node[2026-07-30 20:03:36.782] [info] Received new action goal ×2 + 11.86sINFOros2_control_node[2026-07-30 20:03:36.782] [info] Accepted new action goal ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864421 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864421 ms (missed cycles : 2).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633512 ms (missed cycles : 3). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633512 ms (missed cycles : 3).[0m ×2 + 13.76sINFOros2_control_node[2026-07-30 20:03:38.670] [info] Got request to cancel active goal. ×2 + 13.76sINFOros2_control_node[2026-07-30 20:03:38.670] [info] Canceling active goal... ×2 + 13.76sERRORobjective_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: 1785441818.68390632 seconds ×3 + 14.40sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785441819.31740618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116756 ms (missed cycles : 5). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.116756 ms (missed cycles : 5).[0m ×2 + 14.57sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 14.58sINFOros2_control_node[2026-07-30 20:03:39.501] [info] Received new action goal ×2 + 14.58sINFOros2_control_node[2026-07-30 20:03:39.501] [info] Accepted new action goal ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797971 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797971 ms (missed cycles : 2).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.643968 ms (missed cycles : 6). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.643968 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 165 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2).[0m ×2 + 0.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441796.25768471 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441796.89525962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441796.97539973 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441797.61317825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×4 + 3.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956908 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956908 ms (missed cycles : 3).[0m ×2 + 6.44sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.46sINFOros2_control_node[2026-07-30 20:03:21.067] [info] Received new action goal ×2 + 6.46sINFOros2_control_node[2026-07-30 20:03:21.067] [info] Accepted new action goal ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722096 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722096 ms (missed cycles : 2).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333071 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333071 ms (missed cycles : 4).[0m ×2 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 8.78sINFOros2_control_node[2026-07-30 20:03:23.386] [info] Received new action goal ×2 + 8.78sINFOros2_control_node[2026-07-30 20:03:23.386] [info] Accepted new action goal ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479606 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479606 ms (missed cycles : 2).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 11.15sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 11.15sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 13.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.17sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 13.17sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 13.18sERRORobjective_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: 1785441807.78804135 seconds ×3 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 13.87sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.05sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 14.05sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 63 warnings · 276 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 1.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441993.17267632 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 2.56sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 3.25sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.98sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624457 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624457 ms (missed cycles : 3).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823590 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823590 ms (missed cycles : 2).[0m ×2 + 7.29sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.29sINFOros2_control_node[2026-07-30 20:06:38.517] [info] Received new action goal ×2 + 7.29sINFOros2_control_node[2026-07-30 20:06:38.517] [info] Accepted new action goal ×2 + 7.29sINFOros2_control_node[2026-07-30 20:06:38.517] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795763 ms (missed cycles : 5). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795763 ms (missed cycles : 5).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197802 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197802 ms (missed cycles : 2).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671148 ms (missed cycles : 6). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671148 ms (missed cycles : 6).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090061 ms (missed cycles : 7). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090061 ms (missed cycles : 7).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5).[0m ×2 + 13.32sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2).[0m ×2 + 13.95sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Got request to cancel active goal. ×2 + 13.95sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Canceling active goal... ×2 + 13.95sERRORobjective_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: 1785442005.17856598 seconds ×3 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7).[0m ×2 + 14.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442005.76216602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4).[0m ×2 + 15.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442006.94232106 seconds ×3 + 16.32sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785442007.54453206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.32sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.32sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.32sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.32sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785442007.54662848 seconds ×3 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4).[0m ×2 + 16.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785442008.18454385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785442008.18506503 seconds ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429759 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225129 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225129 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717553 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717553 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642766 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642766 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1785441971.67480469 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. ×3 + 3.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785441972.26034641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.05sINFOros2_control_node[2026-07-30 20:06:12.518] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-07-30 20:06:12.518] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533321 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533321 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528454 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528454 ms (missed cycles : 5).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558388 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558388 ms (missed cycles : 4).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428046 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428046 ms (missed cycles : 3).[0m ×2 + 8.08sINFOros2_control_node[2026-07-30 20:06:16.542] [info] Received new action goal ×2 + 8.08sINFOros2_control_node[2026-07-30 20:06:16.542] [info] Accepted new action goal ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244346 ms (missed cycles : 4). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244346 ms (missed cycles : 4).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180020 ms (missed cycles : 6). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180020 ms (missed cycles : 6).[0m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738253 ms (missed cycles : 3). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738253 ms (missed cycles : 3).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741946 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741946 ms (missed cycles : 2).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786545 ms (missed cycles : 4). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786545 ms (missed cycles : 4).[0m ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409197 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409197 ms (missed cycles : 3).[0m ×2 + 13.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785441982.12795329 seconds ×3 + 14.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785441982.77971244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 14.42sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.43sINFOros2_control_node[2026-07-30 20:06:22.893] [info] Received new action goal ×2 + 14.43sINFOros2_control_node[2026-07-30 20:06:22.893] [info] Accepted new action goal ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533294 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533294 ms (missed cycles : 3).[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830461 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830461 ms (missed cycles : 3).[0m ×2 + 16.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.34sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114618 ms (missed cycles : 5). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114618 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 9.7s | 24 errors · 54 warnings · 257 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×24 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11).[0m ×2 + 1.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441907.75857997 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766101 ms (missed cycles : 5). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766101 ms (missed cycles : 5).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441908.39897180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.78sINFOros2_control_node[2026-07-30 20:05:08.541] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-07-30 20:05:08.541] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749020 ms (missed cycles : 5). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749020 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_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 + 3.11sINFOobjective_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 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441910.09788990 seconds ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697838 ms (missed cycles : 6). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697838 ms (missed cycles : 6).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785441910.71374249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-07-30 20:05:10.870] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-07-30 20:05:10.870] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338565 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338565 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284043 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284043 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401802 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401802 ms (missed cycles : 4).[0m ×2 + 7.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 7.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.25sINFOros2_control_node[2026-07-30 20:05:14.006] [info] Received new action goal ×2 + 7.25sINFOros2_control_node[2026-07-30 20:05:14.006] [info] Accepted new action goal ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704573 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704573 ms (missed cycles : 2).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396617 ms (missed cycles : 4). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396617 ms (missed cycles : 4).[0m ×2 + 9.39sINFOros2_control_node[2026-07-30 20:05:16.142] [info] Received new action goal ×2 + 9.39sINFOros2_control_node[2026-07-30 20:05:16.142] [info] Accepted new action goal ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186501 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186501 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279986 ms (missed cycles : 2). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279986 ms (missed cycles : 2).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862212 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862212 ms (missed cycles : 2).[0m ×2 + 13.02sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785441919.77857137 seconds ×3 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201394 ms (missed cycles : 3). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201394 ms (missed cycles : 3).[0m ×2 + 13.77sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785441920.53120446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 13.94sINFOobjective_server_nodeFound path in 5 iterations (0.0051241 s). ×2 + 13.99sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 14.00sINFOros2_control_node[2026-07-30 20:05:20.756] [info] Received new action goal ×2 + 14.00sINFOros2_control_node[2026-07-30 20:05:20.756] [info] Accepted new action goal ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341263 ms (missed cycles : 4). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341263 ms (missed cycles : 4).[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040880 ms (missed cycles : 4). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040880 ms (missed cycles : 4).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162494 ms (missed cycles : 5). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162494 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 4.0s | 33 warnings · 124 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441843.25334668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.10sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441845.35350251 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219276 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219276 ms (missed cycles : 5).[0m ×2 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.68sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441846.93432927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_node[2026-07-30 20:04:07.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.66sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912103097 [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 + 4.66sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912133918 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.79sINFOobjective_server_node[2026-07-30 20:04:08.043] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5).[0m ×2 + 5.21sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460519134 [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 + 5.21sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460551335 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.29sINFOobjective_server_node[2026-07-30 20:04:08.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.34sINFOobjective_server_node[0;93m2026-07-30 20:04:08.588394984 [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 + 5.34sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592134019 [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 + 5.34sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592181400 [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[2026-07-30 20:04:08.611] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.65sINFOobjective_server_node[0;93m2026-07-30 20:04:08.904795249 [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 + 5.67sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925180110 [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 + 5.67sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925212871 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9).[0m ×2 + 7.15sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441850.39943981 seconds ×3 + 7.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441851.09112501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.92sINFOobjective_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 + 7.93sINFOobjective_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 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3).[0m ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 8.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.27sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Received new action goal ×2 + 8.27sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Accepted new action goal ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 33 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066875 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066875 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709494 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709494 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905894 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905894 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785441841.73491335 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416547 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416547 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785441842.39225817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785441842.47238803 seconds ×3 + 4.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441843.25334668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441845.35350251 seconds ×3 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219276 ms (missed cycles : 5). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219276 ms (missed cycles : 5).[0m ×2 + 7.77sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441846.93432927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3).[0m ×2 + 8.15sINFOobjective_server_node[2026-07-30 20:04:07.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.75sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912103097 [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 + 8.75sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912133918 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.88sINFOobjective_server_node[2026-07-30 20:04:08.043] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5).[0m ×2 + 9.30sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460519134 [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 + 9.30sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460551335 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.38sINFOobjective_server_node[2026-07-30 20:04:08.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.43sINFOobjective_server_node[0;93m2026-07-30 20:04:08.588394984 [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 + 9.43sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592134019 [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 + 9.43sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592181400 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.45sINFOobjective_server_node[2026-07-30 20:04:08.611] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.74sINFOobjective_server_node[0;93m2026-07-30 20:04:08.904795249 [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 + 9.76sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925180110 [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 + 9.76sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925212871 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2).[0m ×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 | 3.4s | 21 errors · 30 warnings · 227 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252568 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252568 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220472 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220472 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.398420 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.398420 ms (missed cycles : 6).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271718 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271718 ms (missed cycles : 6).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785441904.33182049 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441904.98622870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.06sINFOros2_control_node[2026-07-30 20:05:05.139] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-07-30 20:05:05.139] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.723142 ms (missed cycles : 11). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.723142 ms (missed cycles : 11).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513241 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513241 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.33sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.68sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 5.69sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441907.75857997 seconds ×3 + 6.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766101 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766101 ms (missed cycles : 5).[0m ×2 + 7.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441908.39897180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 7.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 7.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 7.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 7.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 7.46sINFOros2_control_node[2026-07-30 20:05:08.541] [info] Received new action goal ×2 + 7.46sINFOros2_control_node[2026-07-30 20:05:08.541] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749020 ms (missed cycles : 5). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749020 ms (missed cycles : 5).[0m ×2 + 9.02sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441910.09788990 seconds ×3 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697838 ms (missed cycles : 6). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697838 ms (missed cycles : 6).[0m ×2 + 9.64sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785441910.71374249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 9.79sINFOros2_control_node[2026-07-30 20:05:10.870] [info] Received new action goal ×2 + 9.79sINFOros2_control_node[2026-07-30 20:05:10.870] [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 | 2.3s | 21 errors · 27 warnings · 227 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785441904.33182049 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.65sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441904.98622870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.81sINFOros2_control_node[2026-07-30 20:05:05.139] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-07-30 20:05:05.139] [info] Accepted new action goal ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.723142 ms (missed cycles : 11). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.723142 ms (missed cycles : 11).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513241 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513241 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_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 + 2.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.43sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.44sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441907.75857997 seconds ×3 + 3.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766101 ms (missed cycles : 5). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766101 ms (missed cycles : 5).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441908.39897180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.21sINFOros2_control_node[2026-07-30 20:05:08.541] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-07-30 20:05:08.541] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749020 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749020 ms (missed cycles : 5).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441910.09788990 seconds ×3 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697838 ms (missed cycles : 6). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697838 ms (missed cycles : 6).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785441910.71374249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 6.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.54sINFOros2_control_node[2026-07-30 20:05:10.870] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-07-30 20:05:10.870] [info] Accepted new action goal ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338565 ms (missed cycles : 3). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338565 ms (missed cycles : 3).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284043 ms (missed cycles : 4). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284043 ms (missed cycles : 4).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401802 ms (missed cycles : 4). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401802 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 3 errors · 30 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671148 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671148 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090061 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090061 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5).[0m ×2 + 2.97sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1785442005.17856598 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442005.76216602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442006.94232106 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785442007.54453206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.97sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785442007.54662848 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785442008.18454385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785442008.18506503 seconds ×3 + 7.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785442008.75936913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971135 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971135 ms (missed cycles : 2).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707083 ms (missed cycles : 6). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707083 ms (missed cycles : 6).[0m ×2 + 8.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785442009.97950721 seconds ×3 + 8.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 34 warnings · 593 info |
+ 0.00sINFOwaypoint_manager_node[2026-07-30 20:02:33.244] [moveit_pro_license] [info] ×2 + 0.00sINFOwaypoint_manager_node************************************************* ×4 + 0.00sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 0.00sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.03sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.03sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.04sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.05sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.06sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.08sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 0.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.17sINFOmove_group ×4 + 0.17sINFOmove_group[92mYou can start planning now![0m ×2 + 0.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.80sINFOobjective_server_node[2026-07-30 20:02:34.049] [moveit_pro_license] [info] ×2 + 0.81sINFOobjective_server_node************************************************* ×4 + 0.81sINFOobjective_server_node* MoveIt Pro License ×2 + 0.81sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.91sINFOobjective_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 + 0.91sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.92sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.92sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.92sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.92sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.92sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.92sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.92sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.92sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 1.21sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 1.21sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.27sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 1.27sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 1.27sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 1.27sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 1.27sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 1.27sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 1.27sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 1.27sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 1.27sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 1.27sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 1.27sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 1.27sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 1.27sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 1.27sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 1.31sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.31sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.31sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.32sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.33sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.34sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.34sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.34sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.34sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 1.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426264 ms (missed cycles : 3). + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426264 ms (missed cycles : 3).[0m ×2 + 1.35sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.35sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.50sINFOcomponent_container_mt[2026-07-30 20:02:34.739] [moveit_pro_license] [info] ×2 + 1.50sINFOcomponent_container_mt************************************************* ×4 + 1.50sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.50sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.66sINFOros2-3process has finished cleanly [pid 8920] ×2 + 1.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.79sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.79sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.80sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.82sINFOros2_control_node[2026-07-30 20:02:35.060] [info] Controller state will be published at 20 Hz. ×2 + 1.82sINFOros2_control_node[2026-07-30 20:02:35.061] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.08sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.08sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.12sINFOros2-8process has finished cleanly [pid 8925] ×2 + 2.14sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 2.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 2.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.18sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.21sINFOros2_control_node[2026-07-30 20:02:35.451] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.21sINFOros2_control_node[2026-07-30 20:02:35.451] [info] Controller state will be published at 50 Hz. ×2 + 2.21sINFOros2_control_node[2026-07-30 20:02:35.456] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.26sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.40sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 2.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 2.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.54sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.54sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.54sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.54sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 2.55sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 2.56sINFOros2-6process has finished cleanly [pid 8923] ×2 + 2.59sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.59sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.59sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.59sINFOforce_torque_sensor_broadcasterconfigure successful + 2.59sINFOros2_control_nodeconfigure successful[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.60sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.60sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.89sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.89sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.89sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.90sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.91sINFOros2-2process has finished cleanly [pid 8919] ×2 + 2.95sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 2.95sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 2.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.99sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.99sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.02sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 3.02sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 3.36sINFOros2-7process has finished cleanly [pid 8924] ×2 + 3.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 3.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 3.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.41sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.41sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.41sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.41sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.41sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.41sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.73sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.73sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.74sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 3.74sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 3.75sINFOros2-4process has finished cleanly [pid 8921] ×2 + 3.80sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.80sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.80sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.80sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.80sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.81sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.81sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.81sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.81sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.81sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.82sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.82sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.13sINFOros2-5process has finished cleanly [pid 8922] ×2 + 4.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 4.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 7.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.52sINFOros2_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 + 7.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 8.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.22sINFOobjective_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 + 8.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.31sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 8.31sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 24 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:03:13.303] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:03:13.303] [info] Accepted new action goal ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486543 ms (missed cycles : 4). + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486543 ms (missed cycles : 4).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2).[0m ×2 + 1.66sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.67sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Accepted new action goal ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441796.25768471 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441796.89525962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441796.97539973 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441797.61317825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.42sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 30 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441993.17267632 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 4.27sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 21 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_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 + 2.18sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Got request to cancel active goal. ×2 + 2.19sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1785441771.68741512 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441772.29357553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441772.39370894 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441773.03986263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 21 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066875 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066875 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709494 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709494 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905894 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905894 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785441841.73491335 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416547 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416547 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785441842.39225817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785441842.47238803 seconds ×3 + 4.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441843.25334668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441845.35350251 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 29 warnings · 456 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 8920] ×2 + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.09sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-07-30 20:02:35.060] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-07-30 20:02:35.061] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.451] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.451] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.456] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.91sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 8919] ×2 + 1.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.37sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 1.37sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 1.71sINFOros2-7process has finished cleanly [pid 8924] ×2 + 1.72sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.72sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.72sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.72sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.76sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.76sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.76sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.76sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.76sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.76sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.78sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 2.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 2.10sINFOros2-4process has finished cleanly [pid 8921] ×2 + 2.15sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.15sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.16sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.16sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.16sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.17sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.17sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.48sINFOros2-5process has finished cleanly [pid 8922] ×2 + 3.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 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: 1785441760.79054451 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.67sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 24 warnings · 139 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2).[0m ×2 + 0.63sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Got request to cancel active goal. ×2 + 0.63sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Canceling active goal... ×2 + 0.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785442005.17856598 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442005.76216602 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 5.566845 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442006.94232106 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785442007.54453206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.00sINFOobjective_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 + 3.00sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.00sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785442007.54662848 seconds ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785442008.18454385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785442008.18506503 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785442008.75936913 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 1.971135 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971135 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707083 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707083 ms (missed cycles : 6).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785442009.97950721 seconds ×3 + 5.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097208 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097208 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 30 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 1.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441993.17267632 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 2.56sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 3.25sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.98sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624457 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624457 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 27 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5).[0m ×2 + 0.87sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Got request to cancel active goal. ×2 + 1.50sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Canceling active goal... ×2 + 1.50sERRORobjective_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: 1785442005.17856598 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442005.76216602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442006.94232106 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785442007.54453206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.87sINFOobjective_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 + 3.87sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785442007.54662848 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785442008.18454385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785442008.18506503 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785442008.75936913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971135 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971135 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707083 ms (missed cycles : 6). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.707083 ms (missed cycles : 6).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785442009.97950721 seconds ×3 + 6.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097208 ms (missed cycles : 5). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.097208 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.1s | 21 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066875 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.066875 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709494 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709494 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905894 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905894 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785441841.73491335 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416547 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416547 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785441842.39225817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785441842.47238803 seconds ×3 + 4.09sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441843.25334668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441845.35350251 seconds ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 24 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441846.93432927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3).[0m ×2 + 0.38sINFOobjective_server_node[2026-07-30 20:04:07.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912103097 [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 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912133918 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-07-30 20:04:08.043] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460519134 [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 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460551335 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-07-30 20:04:08.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.588394984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592134019 [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 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592181400 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.68sINFOobjective_server_node[2026-07-30 20:04:08.611] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.97sINFOobjective_server_node[0;93m2026-07-30 20:04:08.904795249 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925180110 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925212871 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441850.39943981 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441851.09112501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 21 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_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 + 2.18sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Got request to cancel active goal. ×2 + 2.19sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1785441771.68741512 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441772.29357553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441772.39370894 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441773.03986263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 18 errors · 21 warnings · 118 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252568 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252568 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220472 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220472 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.398420 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.398420 ms (missed cycles : 6).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271718 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271718 ms (missed cycles : 6).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785441904.33182049 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441904.98622870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.06sINFOros2_control_node[2026-07-30 20:05:05.139] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-07-30 20:05:05.139] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.723142 ms (missed cycles : 11). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.723142 ms (missed cycles : 11).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513241 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513241 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.33sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.68sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 5.69sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11).[0m ×2 + 6.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441907.75857997 seconds ×3 + 6.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 21 warnings · 162 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'. ×12 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.437389 ms (missed cycles : 11).[0m ×2 + 1.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441907.75857997 seconds ×3 + 1.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766101 ms (missed cycles : 5). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766101 ms (missed cycles : 5).[0m ×2 + 1.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785441908.39897180 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.78sINFOros2_control_node[2026-07-30 20:05:08.541] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-07-30 20:05:08.541] [info] Accepted new action goal ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749020 ms (missed cycles : 5). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.749020 ms (missed cycles : 5).[0m ×2 + 3.10sINFOobjective_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 + 3.11sINFOobjective_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 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785441910.09788990 seconds ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697838 ms (missed cycles : 6). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.697838 ms (missed cycles : 6).[0m ×2 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785441910.71374249 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-07-30 20:05:10.870] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-07-30 20:05:10.870] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338565 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338565 ms (missed cycles : 3).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284043 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284043 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401802 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401802 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 21 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186501 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.186501 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279986 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279986 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862212 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862212 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_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 + 2.84sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.06sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785441919.77857137 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201394 ms (missed cycles : 3). + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.201394 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785441920.53120446 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeFound path in 5 iterations (0.0051241 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.04sINFOros2_control_node[2026-07-30 20:05:20.756] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 20:05:20.756] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341263 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341263 ms (missed cycles : 4).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040880 ms (missed cycles : 4). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040880 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162494 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162494 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 24 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.429759 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225129 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225129 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717553 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717553 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642766 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642766 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1785441971.67480469 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sWARNobjective_server_nodeGetTrajectoryStateAtTime Warning: Using deprecated behavior 'GetTrajectoryStateAtTime': Renamed to GetRobotStateFromTrajectory. ×3 + 3.80sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785441972.26034641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.05sINFOros2_control_node[2026-07-30 20:06:12.518] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-07-30 20:06:12.518] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533321 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533321 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528454 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528454 ms (missed cycles : 5).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558388 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558388 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 30 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441993.17267632 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 4.27sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 30 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 1.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441993.17267632 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 2.56sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 3.25sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.98sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624457 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624457 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 18 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_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 + 2.18sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Got request to cancel active goal. ×2 + 2.19sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1785441771.68741512 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441772.29357553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441772.39370894 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441773.03986263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 18 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_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 + 2.18sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Got request to cancel active goal. ×2 + 2.19sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1785441771.68741512 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441772.29357553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441772.39370894 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441773.03986263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 21 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_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 + 2.18sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Got request to cancel active goal. ×2 + 2.19sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1785441771.68741512 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441772.29357553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441772.39370894 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441773.03986263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 21 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_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 + 2.18sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Got request to cancel active goal. ×2 + 2.19sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1785441771.68741512 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441772.29357553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441772.39370894 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441773.03986263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 21 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632431 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716969 ms (missed cycles : 4).[0m ×2 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:02:51.145] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172650 ms (missed cycles : 5).[0m ×2 + 2.18sINFOobjective_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 + 2.18sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Got request to cancel active goal. ×2 + 2.19sINFOros2_control_node[2026-07-30 20:02:51.672] [info] Canceling active goal... ×2 + 2.20sERRORobjective_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: 1785441771.68741512 seconds ×3 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785441772.29357553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785441772.39370894 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.727525 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785441773.03986263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-07-30 20:02:53.223] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785612 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.383766 ms (missed cycles : 7).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567995 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 21 warnings · 83 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2).[0m ×2 + 0.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441796.25768471 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441796.89525962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441796.97539973 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441797.61317825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 21 warnings · 83 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2).[0m ×2 + 0.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441796.25768471 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441796.89525962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441796.97539973 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441797.61317825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 21 warnings · 83 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2).[0m ×2 + 0.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441796.25768471 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441796.89525962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441796.97539973 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441797.61317825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 21 warnings · 83 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922142 ms (missed cycles : 2).[0m ×2 + 0.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 20:03:14.973] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797154 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785441796.25768471 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000777 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785441796.89525962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785441796.97539973 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785441797.61317825 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.10sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-07-30 20:03:17.722] [info] Accepted new action goal ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409639 ms (missed cycles : 3).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989153 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.254844 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332456 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 0.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Received new action goal ×2 + 0.84sINFOros2_control_node[2026-07-30 20:03:25.757] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958613 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.992916 ms (missed cycles : 8).[0m ×2 + 2.84sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.774] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-07-30 20:03:27.775] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1785441807.78804135 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928479 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785441808.47599602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 20:03:28.649] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287025 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.041142 ms (missed cycles : 4).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086337 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 21 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094513 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094513 ms (missed cycles : 5).[0m ×2 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (1.7e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.47sINFOobjective_server_nodeFound path in 0 iterations (5.3e-07 s). ×2 + 0.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.53sINFOobjective_server_nodeFound path in 5 iterations (0.00381196 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.65sINFOros2_control_node[2026-07-30 20:03:47.455] [info] Received new action goal ×2 + 0.65sINFOros2_control_node[2026-07-30 20:03:47.455] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947725 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947725 ms (missed cycles : 5).[0m ×2 + 1.04sINFOros2_control_node[2026-07-30 20:03:47.847] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-07-30 20:03:47.847] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980740 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980740 ms (missed cycles : 2).[0m ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.97sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.98sERRORobjective_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: 1785441829.79183459 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264844 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.264844 ms (missed cycles : 4).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785441830.59188771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-07-30 20:03:50.771] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-07-30 20:03:50.771] [info] Accepted new action goal ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410699 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410699 ms (missed cycles : 3).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997173 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997173 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732009 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732009 ms (missed cycles : 2).[0m ×2 + 6.36sINFOros2_control_node[2026-07-30 20:03:53.163] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-07-30 20:03:53.163] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 21 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785441843.25334668 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601421 ms (missed cycles : 2).[0m ×2 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.10sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-07-30 20:04:03.349] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733864 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745511 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785441845.35350251 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219276 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.219276 ms (missed cycles : 5).[0m ×2 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.68sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441846.93432927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_node[2026-07-30 20:04:07.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.66sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912103097 [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 + 4.66sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912133918 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.79sINFOobjective_server_node[2026-07-30 20:04:08.043] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5).[0m ×2 + 5.21sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460519134 [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 + 5.21sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460551335 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.29sINFOobjective_server_node[2026-07-30 20:04:08.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.34sINFOobjective_server_node[0;93m2026-07-30 20:04:08.588394984 [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 + 5.34sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592134019 [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 + 5.34sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592181400 [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[2026-07-30 20:04:08.611] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.65sINFOobjective_server_node[0;93m2026-07-30 20:04:08.904795249 [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 + 5.67sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925180110 [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 + 5.67sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925212871 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 21 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441846.93432927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3).[0m ×2 + 0.38sINFOobjective_server_node[2026-07-30 20:04:07.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912103097 [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 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912133918 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-07-30 20:04:08.043] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460519134 [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 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460551335 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-07-30 20:04:08.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.588394984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592134019 [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 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592181400 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.68sINFOobjective_server_node[2026-07-30 20:04:08.611] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.97sINFOobjective_server_node[0;93m2026-07-30 20:04:08.904795249 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925180110 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925212871 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441850.39943981 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441851.09112501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 21 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441846.93432927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3).[0m ×2 + 0.38sINFOobjective_server_node[2026-07-30 20:04:07.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912103097 [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 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912133918 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-07-30 20:04:08.043] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460519134 [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 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460551335 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-07-30 20:04:08.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.588394984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592134019 [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 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592181400 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.68sINFOobjective_server_node[2026-07-30 20:04:08.611] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.97sINFOobjective_server_node[0;93m2026-07-30 20:04:08.904795249 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925180110 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925212871 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441850.39943981 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441851.09112501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 21 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441846.93432927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3).[0m ×2 + 0.38sINFOobjective_server_node[2026-07-30 20:04:07.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912103097 [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 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912133918 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-07-30 20:04:08.043] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460519134 [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 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460551335 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-07-30 20:04:08.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.588394984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592134019 [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 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592181400 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.68sINFOobjective_server_node[2026-07-30 20:04:08.611] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.97sINFOobjective_server_node[0;93m2026-07-30 20:04:08.904795249 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925180110 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925212871 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441850.39943981 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441851.09112501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 21 warnings · 82 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785441846.93432927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305691 ms (missed cycles : 3).[0m ×2 + 0.38sINFOobjective_server_node[2026-07-30 20:04:07.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912103097 [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 + 0.98sINFOobjective_server_node[0;93m2026-07-30 20:04:07.912133918 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.11sINFOobjective_server_node[2026-07-30 20:04:08.043] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926789 ms (missed cycles : 5).[0m ×2 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460519134 [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 + 1.53sINFOobjective_server_node[0;93m2026-07-30 20:04:08.460551335 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.61sINFOobjective_server_node[2026-07-30 20:04:08.543] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.588394984 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592134019 [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 + 1.66sINFOobjective_server_node[0;93m2026-07-30 20:04:08.592181400 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.68sINFOobjective_server_node[2026-07-30 20:04:08.611] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.97sINFOobjective_server_node[0;93m2026-07-30 20:04:08.904795249 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925180110 [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 + 1.99sINFOobjective_server_node[0;93m2026-07-30 20:04:08.925212871 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088916 ms (missed cycles : 2).[0m ×2 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.645106 ms (missed cycles : 9).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785441850.39943981 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785441851.09112501 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.25sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765948 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-07-30 20:04:11.518] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085644 ms (missed cycles : 5).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984814 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 21 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861968 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861968 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997903 ms (missed cycles : 8). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997903 ms (missed cycles : 8).[0m ×2 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592973 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592973 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785441949.53863406 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267657 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267657 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785441950.24069023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-07-30 20:05:50.444] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-07-30 20:05:50.444] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510744 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510744 ms (missed cycles : 6).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981562 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981562 ms (missed cycles : 5).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715847 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715847 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 21 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861968 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861968 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997903 ms (missed cycles : 8). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997903 ms (missed cycles : 8).[0m ×2 + 1.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592973 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592973 ms (missed cycles : 3).[0m ×2 + 2.85sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785441949.53863406 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267657 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267657 ms (missed cycles : 4).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785441950.24069023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-07-30 20:05:50.444] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-07-30 20:05:50.444] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510744 ms (missed cycles : 6). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.510744 ms (missed cycles : 6).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981562 ms (missed cycles : 5). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.981562 ms (missed cycles : 5).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715847 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715847 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 24 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 24 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 24 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 24 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 24 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 24 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 24 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 24 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 20:05:57.272] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062658 ms (missed cycles : 5).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 20:05:58.934] [info] Accepted new action goal ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381017 ms (missed cycles : 3).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593846 ms (missed cycles : 3).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1785441960.22087502 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.299476 ms (missed cycles : 4).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785441961.35440779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-07-30 20:06:01.548] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719938 ms (missed cycles : 3).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203716 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738253 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738253 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741946 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741946 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786545 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.786545 ms (missed cycles : 4).[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409197 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409197 ms (missed cycles : 3).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785441982.12795329 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.43sINFOros2_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 + 4.06sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785441982.77971244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.18sINFOros2_control_node[2026-07-30 20:06:22.893] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-07-30 20:06:22.893] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533294 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533294 ms (missed cycles : 3).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830461 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830461 ms (missed cycles : 3).[0m ×2 + 6.09sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114618 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114618 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 30 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441993.17267632 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 4.27sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 30 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441993.17267632 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 4.27sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 30 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.348709 ms (missed cycles : 8).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441993.17267632 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 3.58sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 4.27sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 4.27sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 4.89sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 30 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404652 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670125 ms (missed cycles : 3).[0m ×2 + 1.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785441993.17267632 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227287 ms (missed cycles : 2).[0m ×2 + 2.56sWARNobjective_server_nodeCreateJointState Warning: Using deprecated behavior 'CreateJointState': Renamed to CreateRobotState. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785441993.78727841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.62sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785441993.89737129 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.673324 ms (missed cycles : 6).[0m ×2 + 3.25sWARNobjective_server_nodeGetRobotJointState Warning: Using deprecated behavior 'GetRobotJointState': Renamed to GetJointState. ×6 + 3.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785441994.47662926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_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 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785441994.50865221 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785441995.09395337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.98sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Received new action goal ×2 + 3.98sINFOros2_control_node[2026-07-30 20:06:35.208] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734282 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.622681 ms (missed cycles : 6).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624457 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.624457 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 24 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671148 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671148 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090061 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090061 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5).[0m ×2 + 2.97sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1785442005.17856598 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442005.76216602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442006.94232106 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785442007.54453206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.97sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785442007.54662848 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785442008.18454385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785442008.18506503 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 24 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671148 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.671148 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090061 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.090061 ms (missed cycles : 7).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204234 ms (missed cycles : 5).[0m ×2 + 2.97sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965537 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-07-30 20:06:45.174] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1785442005.17856598 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.560979 ms (missed cycles : 7).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785442005.76216602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566845 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785442006.94232106 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785442007.54453206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.97sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785442007.54662848 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610967 ms (missed cycles : 4).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785442008.18454385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785442008.18506503 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.3s | 37 warnings · 612 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/2026-07-30-20-02-30-052935-f28efe27a584-8870 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.22sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.23sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.23sINFOcontroller_managerupdate rate is 600 Hz + 1.23sINFOcontroller_managerOverruns handling is : enabled + 1.23sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.23sWARNcontroller_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. + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357298 ms (missed cycles : 3). + 1.37sINFOros2_control_node-1process started with pid [8918] ×2 + 1.37sINFOmove_group-9process started with pid [8955] ×2 + 1.37sINFOparameter_manager_node-10process started with pid [8956] ×2 + 1.37sINFOwaypoint_manager_node-11process started with pid [8957] ×2 + 1.37sINFOmove_joint_resampler_node-12process started with pid [8958] ×2 + 1.39sINFOmove_end_effector_resampler_node-13process started with pid [8959] ×2 + 1.39sINFOobjective_server_node_main-14process started with pid [8960] ×2 + 1.39sINFOcomponent_container_mt-15process started with pid [8961] ×2 + 1.39sINFOcomponent_container_mt-16process started with pid [8962] ×2 + 1.39sINFOexecute_objective_bridge-17process started with pid [8963] ×2 + 1.39sINFOui_teleop_bridge-18process started with pid [8964] ×2 + 1.39sINFOweb_bridge-19process started with pid [8965] ×2 + 1.39sINFOtf2_web_republisher_node-20process started with pid [9029] ×2 + 1.39sINFOvideo_server-21process started with pid [9030] ×2 + 1.39sINFOweb_bridge_auth_proxy-22process started with pid [9031] ×2 + 1.39sINFOweb_video_auth_proxy-23process started with pid [9032] ×2 + 1.40sINFOros2-2process started with pid [8919] ×2 + 1.40sINFOros2-3process started with pid [8920] ×2 + 1.40sINFOros2-4process started with pid [8921] ×2 + 1.40sINFOros2-5process started with pid [8922] ×2 + 1.40sINFOros2-6process started with pid [8923] ×2 + 1.40sINFOros2-7process started with pid [8924] ×2 + 1.40sINFOros2-8process started with pid [8925] ×2 + 1.41sINFOcontroller_managerReceived robot description from topic. + 1.41sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.43sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.43sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.44sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.44sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.44sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.44sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.44sWARNros2_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 + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357298 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.44sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.44sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.54sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.86sINFOvideo_server2026/07/30 20:02:32 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.86sINFOvideo_server2026/07/30 20:02:32 INF configuration loaded from /tmp/moveit-webrtc-kerw09zs/mediamtx.yml ×2 + 1.86sINFOvideo_server2026/07/30 20:02:32 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.87sINFOvideo_server2026/07/30 20:02:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.22sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.22sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.22sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.23sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.34sINFOmove_group[2026-07-30 20:02:32.948] [moveit_pro_license] [info] ×2 + 2.34sINFOmove_group************************************************* ×4 + 2.34sINFOmove_group* MoveIt Pro License ×2 + 2.34sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781007 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781007 ms (missed cycles : 2).[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.64sINFOwaypoint_manager_node[2026-07-30 20:02:33.244] [moveit_pro_license] [info] ×2 + 2.64sINFOwaypoint_manager_node************************************************* ×4 + 2.64sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.64sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.67sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.67sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.67sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.68sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.68sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.69sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.69sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.69sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.72sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.81sINFOmove_group ×4 + 2.81sINFOmove_group[92mYou can start planning now![0m ×2 + 3.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.44sINFOobjective_server_node[2026-07-30 20:02:34.049] [moveit_pro_license] [info] ×2 + 3.44sINFOobjective_server_node************************************************* ×4 + 3.44sINFOobjective_server_node* MoveIt Pro License ×2 + 3.44sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.54sINFOobjective_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 + 3.55sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.56sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.56sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.85sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.85sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.90sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.90sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.91sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.91sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.91sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 3.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 3.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.97sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.97sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.98sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×16 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426264 ms (missed cycles : 3). + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426264 ms (missed cycles : 3).[0m ×2 + 3.99sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.99sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.13sINFOcomponent_container_mt[2026-07-30 20:02:34.739] [moveit_pro_license] [info] ×2 + 4.13sINFOcomponent_container_mt************************************************* ×4 + 4.13sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.13sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.29sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.29sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.29sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.29sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.30sINFOros2-3process has finished cleanly [pid 8920] ×2 + 4.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 4.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 4.42sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.43sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.43sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.43sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.45sINFOros2_control_node[2026-07-30 20:02:35.060] [info] Controller state will be published at 20 Hz. ×2 + 4.45sINFOros2_control_node[2026-07-30 20:02:35.061] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.72sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.76sINFOros2-8process has finished cleanly [pid 8925] ×2 + 4.77sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 4.77sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 4.82sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.82sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.82sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.82sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.82sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.82sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.84sINFOros2_control_node[2026-07-30 20:02:35.451] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.85sINFOros2_control_node[2026-07-30 20:02:35.451] [info] Controller state will be published at 50 Hz. ×2 + 4.85sINFOros2_control_node[2026-07-30 20:02:35.456] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.90sWARNobjective_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 + 5.04sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 5.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.08sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 5.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 5.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 5.20sINFOros2-6process has finished cleanly [pid 8923] ×2 + 5.22sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.22sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.23sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.23sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.23sINFOforce_torque_sensor_broadcasterconfigure successful + 5.23sINFOros2_control_nodeconfigure successful[0m ×2 + 5.23sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.24sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.54sINFOros2-2process has finished cleanly [pid 8919] ×2 + 5.59sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 5.59sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 5.63sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.63sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.65sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 5.65sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 6.00sINFOros2-7process has finished cleanly [pid 8924] ×2 + 6.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 6.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 6.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.05sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 6.05sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 6.05sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 6.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.05sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 6.05sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 6.05sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 6.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.06sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.06sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 6.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 6.39sINFOros2-4process has finished cleanly [pid 8921] ×2 + 6.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.46sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.46sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.77sINFOros2-5process has finished cleanly [pid 8922] ×2 + 7.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 7.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 7.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 8.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 8.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 9.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 30 warnings · 335 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 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 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.37sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.42sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.42sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.42sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.42sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.42sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.42sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.43sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.44sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.74sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.74sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.76sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.81sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.81sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.81sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.81sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.82sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.82sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.82sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.83sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.14sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.32sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 5.32sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 27 warnings · 402 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.03sINFOros2_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 ×40 + 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 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.14sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.16sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.18sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.18sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.19sINFOforce_torque_sensor_broadcasterconfigure successful + 0.19sINFOros2_control_nodeconfigure successful[0m ×2 + 0.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.19sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.20sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.20sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 8919] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.59sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.59sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.61sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 0.61sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 0.96sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.96sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.96sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.96sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.96sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.97sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.01sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.01sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.01sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.01sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.01sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.01sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.33sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.35sINFOros2-4process has finished cleanly [pid 8921] ×2 + 1.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.42sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.42sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.73sINFOros2-5process has finished cleanly [pid 8922] ×2 + 2.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.90sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.91sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 143 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/2026-07-30-20-02-30-052935-f28efe27a584-8870 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.22sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.23sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.23sINFOcontroller_managerupdate rate is 600 Hz + 1.23sINFOcontroller_managerOverruns handling is : enabled + 1.23sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.23sWARNcontroller_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. + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357298 ms (missed cycles : 3). + 1.37sINFOros2_control_node-1process started with pid [8918] ×2 + 1.37sINFOmove_group-9process started with pid [8955] ×2 + 1.37sINFOparameter_manager_node-10process started with pid [8956] ×2 + 1.37sINFOwaypoint_manager_node-11process started with pid [8957] ×2 + 1.37sINFOmove_joint_resampler_node-12process started with pid [8958] ×2 + 1.39sINFOmove_end_effector_resampler_node-13process started with pid [8959] ×2 + 1.39sINFOobjective_server_node_main-14process started with pid [8960] ×2 + 1.39sINFOcomponent_container_mt-15process started with pid [8961] ×2 + 1.39sINFOcomponent_container_mt-16process started with pid [8962] ×2 + 1.39sINFOexecute_objective_bridge-17process started with pid [8963] ×2 + 1.39sINFOui_teleop_bridge-18process started with pid [8964] ×2 + 1.39sINFOweb_bridge-19process started with pid [8965] ×2 + 1.39sINFOtf2_web_republisher_node-20process started with pid [9029] ×2 + 1.39sINFOvideo_server-21process started with pid [9030] ×2 + 1.39sINFOweb_bridge_auth_proxy-22process started with pid [9031] ×2 + 1.39sINFOweb_video_auth_proxy-23process started with pid [9032] ×2 + 1.40sINFOros2-2process started with pid [8919] ×2 + 1.40sINFOros2-3process started with pid [8920] ×2 + 1.40sINFOros2-4process started with pid [8921] ×2 + 1.40sINFOros2-5process started with pid [8922] ×2 + 1.40sINFOros2-6process started with pid [8923] ×2 + 1.40sINFOros2-7process started with pid [8924] ×2 + 1.40sINFOros2-8process started with pid [8925] ×2 + 1.41sINFOcontroller_managerReceived robot description from topic. + 1.41sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.43sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.43sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.44sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.44sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.44sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.44sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.44sWARNros2_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 + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357298 ms (missed cycles : 3).[0m ×2 + 1.44sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.44sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.44sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.54sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.86sINFOvideo_server2026/07/30 20:02:32 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.86sINFOvideo_server2026/07/30 20:02:32 INF configuration loaded from /tmp/moveit-webrtc-kerw09zs/mediamtx.yml ×2 + 1.86sINFOvideo_server2026/07/30 20:02:32 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.87sINFOvideo_server2026/07/30 20:02:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.22sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.22sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.22sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.23sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.34sINFOmove_group[2026-07-30 20:02:32.948] [moveit_pro_license] [info] ×2 + 2.34sINFOmove_group************************************************* ×4 + 2.34sINFOmove_group* MoveIt Pro License ×2 + 2.34sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781007 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781007 ms (missed cycles : 2).[0m ×2 + 2.63sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.64sINFOwaypoint_manager_node[2026-07-30 20:02:33.244] [moveit_pro_license] [info] ×2 + 2.64sINFOwaypoint_manager_node************************************************* ×4 + 2.64sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.64sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.67sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.67sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.67sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.68sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.68sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.69sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.69sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.69sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.72sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.81sINFOmove_group ×4 + 2.81sINFOmove_group[92mYou can start planning now![0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 26 warnings · 456 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 8920] ×2 + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.09sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-07-30 20:02:35.060] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-07-30 20:02:35.061] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.451] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.451] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.456] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.91sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 8919] ×2 + 1.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.37sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 1.37sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 1.71sINFOros2-7process has finished cleanly [pid 8924] ×2 + 1.72sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.72sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.72sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.72sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.76sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.76sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.76sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.76sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.76sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.76sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.78sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 2.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 2.10sINFOros2-4process has finished cleanly [pid 8921] ×2 + 2.15sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.15sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.16sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.16sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.16sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.17sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.17sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.48sINFOros2-5process has finished cleanly [pid 8922] ×2 + 3.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 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: 1785441760.79054451 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.67sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 26 warnings · 456 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 8920] ×2 + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.09sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-07-30 20:02:35.060] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-07-30 20:02:35.061] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.451] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.451] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.456] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.91sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 8919] ×2 + 1.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.37sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 1.37sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 1.71sINFOros2-7process has finished cleanly [pid 8924] ×2 + 1.72sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.72sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.72sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.72sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.76sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.76sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.76sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.76sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.76sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.76sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.78sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 2.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 2.10sINFOros2-4process has finished cleanly [pid 8921] ×2 + 2.15sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.15sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.16sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.16sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.16sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.17sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.17sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.48sINFOros2-5process has finished cleanly [pid 8922] ×2 + 3.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 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: 1785441760.79054451 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.67sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 26 warnings · 456 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2-3process has finished cleanly [pid 8920] ×2 + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.09sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-07-30 20:02:35.060] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-07-30 20:02:35.061] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2-8process has finished cleanly [pid 8925] ×2 + 0.49sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.49sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-07-30 20:02:35.426] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.451] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.451] [info] Controller state will be published at 50 Hz. ×2 + 0.56sINFOros2_control_node[2026-07-30 20:02:35.456] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.61sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.79sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.91sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.94sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.94sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOforce_torque_sensor_broadcasterconfigure successful + 0.95sINFOros2_control_nodeconfigure successful[0m ×2 + 0.95sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.95sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.95sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.95sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.26sINFOros2-2process has finished cleanly [pid 8919] ×2 + 1.30sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.30sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.34sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.34sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.34sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.34sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.37sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 1.37sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 1.71sINFOros2-7process has finished cleanly [pid 8924] ×2 + 1.72sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.72sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.72sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.72sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.72sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.76sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.76sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.76sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.76sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.76sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.76sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.76sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.76sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.76sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.77sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.77sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.78sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.08sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.08sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.08sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 2.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 2.10sINFOros2-4process has finished cleanly [pid 8921] ×2 + 2.15sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.15sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.16sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.16sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.16sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.16sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.17sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.17sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.48sINFOros2-5process has finished cleanly [pid 8922] ×2 + 3.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 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: 1785441760.79054451 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 6.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.67sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 6.67sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 27 warnings · 402 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.03sINFOros2_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 ×40 + 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 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.14sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.14sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.14sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.14sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.14sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.16sINFOros2-6process has finished cleanly [pid 8923] ×2 + 0.18sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.18sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.19sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.19sINFOforce_torque_sensor_broadcasterconfigure successful + 0.19sINFOros2_control_nodeconfigure successful[0m ×2 + 0.19sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.19sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.20sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.20sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 8919] ×2 + 0.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.59sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.59sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.61sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 0.61sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 0.96sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.96sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.96sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.96sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.96sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.97sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.01sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.01sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.01sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.01sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.01sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.01sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.01sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.01sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.02sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.33sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.33sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 1.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 1.35sINFOros2-4process has finished cleanly [pid 8921] ×2 + 1.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.40sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.40sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.40sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.40sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.40sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.41sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.41sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.42sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.42sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.73sINFOros2-5process has finished cleanly [pid 8922] ×2 + 2.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.90sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.91sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 5.91sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 27 warnings · 332 info |
+ 0.00sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.00sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-07-30 20:02:36.260] [info] Controller state will be published at 10 Hz. ×2 + 0.03sINFOros2_control_node[2026-07-30 20:02:36.261] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785441756.36226487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785441756.37249589 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 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 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.37sINFOros2-7process has finished cleanly [pid 8924] ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.38sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.38sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.38sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.42sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.42sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.42sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.42sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.42sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.42sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.42sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.42sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.42sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.42sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.43sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.44sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897857 ms (missed cycles : 2).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.74sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.74sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.74sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.76sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.81sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.81sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.81sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.81sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.81sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.81sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.82sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.82sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.82sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.82sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.82sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.83sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.14sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 5.22sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_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 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.32sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 5.32sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 21 warnings · 276 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.16sINFOros2_control_node[2026-07-30 20:02:44.106] [info] Received new action goal ×2 + 7.16sINFOros2_control_node[2026-07-30 20:02:44.106] [info] Accepted new action goal ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340985 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340985 ms (missed cycles : 4).[0m ×2 + 7.59sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 18 warnings · 263 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785441756.94964933 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 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 + 0.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qyzmq62x --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_he__33me --params-file /tmp/launch_params_vn2wt8d9 [0m ×2 + 0.04sINFOros2-4process has finished cleanly [pid 8921] ×2 + 0.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.10sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.11sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.43sINFOros2-5process has finished cleanly [pid 8922] ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785441758.00979161 seconds ×3 + 1.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167449 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785441758.61089206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785441758.67104912 seconds ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546104 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785441759.31586981 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785441759.33600855 seconds ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785441759.93209672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785441760.08289075 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636105 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785441760.75039172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785441760.79054451 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889454 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785441761.45207500 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_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 + 4.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (1.7711e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-07-30 20:02:41.557] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605290 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068033 ms (missed cycles : 2).[0m ×2 | ||||