117
Total objective tests
34
Objectives passed
1
Objectives failed
82
Objectives skipped
7.7s
Avg test time
97%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives1 fail30 pass53 skip
| ✕ failed | Select Region and Cover | select_region_and_cover.xml | 0.7s | 6 errors · 33 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_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 + 1.26sERRORobjective_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: 1785410382.37642717 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 3.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 3.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.8s | 162 warnings · 303 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:17:16.024] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4).[0m ×2 + 0.59sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619093769 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619144131 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 11:17:16.762] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168429167 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168471308 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 11:17:17.250] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 11:17:17.292685616 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295667107 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295690768 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.29sINFOobjective_server_node[2026-07-30 11:17:17.313] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.62sINFOobjective_server_node[0;93m2026-07-30 11:17:17.641488213 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661177553 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661230264 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785410239.11479616 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3).[0m ×2 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785410239.83070660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_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 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Accepted new action goal ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255801 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255801 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.347607 ms (missed cycles : 5). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.347607 ms (missed cycles : 5).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194668 ms (missed cycles : 6). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194668 ms (missed cycles : 6).[0m ×2 + 10.05sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.05sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.06sINFOros2_control_node[2026-07-30 11:17:26.084] [info] Received new action goal ×2 + 10.06sINFOros2_control_node[2026-07-30 11:17:26.084] [info] Accepted new action goal ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544785 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544785 ms (missed cycles : 3).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919061 ms (missed cycles : 3). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919061 ms (missed cycles : 3).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003122 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003122 ms (missed cycles : 2).[0m ×2 + 13.05sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 13.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.09sINFOros2_control_node[2026-07-30 11:17:29.117] [info] Received new action goal ×2 + 13.09sINFOros2_control_node[2026-07-30 11:17:29.117] [info] Accepted new action goal ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331680 ms (missed cycles : 6). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.331680 ms (missed cycles : 6).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667711 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667711 ms (missed cycles : 2).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740677 ms (missed cycles : 4). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740677 ms (missed cycles : 4).[0m ×2 + 16.05sINFOobjective_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 + 16.05sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.05sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.05sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.05sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825118 ms (missed cycles : 4). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825118 ms (missed cycles : 4).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283537 ms (missed cycles : 5). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283537 ms (missed cycles : 5).[0m ×2 + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745876 ms (missed cycles : 2). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745876 ms (missed cycles : 2).[0m ×2 + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776492 ms (missed cycles : 3). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776492 ms (missed cycles : 3).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014424 ms (missed cycles : 4). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.014424 ms (missed cycles : 4).[0m ×2 + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896968 ms (missed cycles : 2). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896968 ms (missed cycles : 2).[0m ×2 + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486534 ms (missed cycles : 4). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486534 ms (missed cycles : 4).[0m ×2 + 22.86sINFOobjective_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 + 22.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.86sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.86sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.86sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.86sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221840 ms (missed cycles : 3). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221840 ms (missed cycles : 3).[0m ×2 + 23.79sINFOros2_control_node[2026-07-30 11:17:39.816] [info] Received new action goal ×2 + 23.79sINFOros2_control_node[2026-07-30 11:17:39.816] [info] Accepted new action goal ×2 + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124685 ms (missed cycles : 2). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124685 ms (missed cycles : 2).[0m ×2 + 24.96sINFOobjective_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 + 24.97sINFOobjective_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 + 25.23sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 25.23sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.27sINFOros2_control_node[2026-07-30 11:17:41.298] [info] Received new action goal ×2 + 25.27sINFOros2_control_node[2026-07-30 11:17:41.298] [info] Accepted new action goal ×2 + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787710 ms (missed cycles : 2). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787710 ms (missed cycles : 2).[0m ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424835 ms (missed cycles : 3). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424835 ms (missed cycles : 3).[0m ×2 + 27.38sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 27.39sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.39sINFOros2_control_node[2026-07-30 11:17:43.416] [info] Received new action goal ×2 + 27.39sINFOros2_control_node[2026-07-30 11:17:43.416] [info] Accepted new action goal ×2 + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.858832 ms (missed cycles : 8). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.858832 ms (missed cycles : 8).[0m ×2 + 29.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398960 ms (missed cycles : 2). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398960 ms (missed cycles : 2).[0m ×2 + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272250 ms (missed cycles : 3). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272250 ms (missed cycles : 3).[0m ×2 + 30.42sINFOros2_control_node[2026-07-30 11:17:46.446] [info] Received new action goal ×2 + 30.42sINFOros2_control_node[2026-07-30 11:17:46.446] [info] Accepted new action goal ×2 + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097280 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097280 ms (missed cycles : 2).[0m ×2 + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453739 ms (missed cycles : 3). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453739 ms (missed cycles : 3).[0m ×2 + 33.04sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 33.04sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.08sINFOros2_control_node[2026-07-30 11:17:49.100] [info] Received new action goal ×2 + 33.08sINFOros2_control_node[2026-07-30 11:17:49.100] [info] Accepted new action goal ×2 + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374604 ms (missed cycles : 3). + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374604 ms (missed cycles : 3).[0m ×2 + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412544 ms (missed cycles : 3). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412544 ms (missed cycles : 3).[0m ×2 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075818 ms (missed cycles : 4). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075818 ms (missed cycles : 4).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.454425 ms (missed cycles : 7). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.454425 ms (missed cycles : 7).[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853277 ms (missed cycles : 2). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853277 ms (missed cycles : 2).[0m ×2 + 37.25sINFOros2_control_nodeMuJoCo sim: 0.51% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775003 ms (missed cycles : 2). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775003 ms (missed cycles : 2).[0m ×2 + 39.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139202 ms (missed cycles : 2). + 39.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139202 ms (missed cycles : 2).[0m ×2 + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286921 ms (missed cycles : 4). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286921 ms (missed cycles : 4).[0m ×2 + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076655 ms (missed cycles : 4). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076655 ms (missed cycles : 4).[0m ×2 + 42.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.236451 ms (missed cycles : 7). + 42.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.236451 ms (missed cycles : 7).[0m ×2 + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558586 ms (missed cycles : 3). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558586 ms (missed cycles : 3).[0m ×2 + 43.79sINFOros2_control_node[2026-07-30 11:17:59.816] [info] Received new action goal ×2 + 43.79sINFOros2_control_node[2026-07-30 11:17:59.816] [info] Accepted new action goal ×2 + 44.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311614 ms (missed cycles : 2). + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311614 ms (missed cycles : 2).[0m ×2 + 44.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785410280.97297001 seconds ×3 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456189 ms (missed cycles : 3). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456189 ms (missed cycles : 3).[0m ×2 + 45.74sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785410281.75988269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.364508 ms (missed cycles : 6). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.364508 ms (missed cycles : 6).[0m ×2 + 46.95sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 46.96sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 46.97sINFOros2_control_node[2026-07-30 11:18:02.993] [info] Received new action goal ×2 + 46.97sINFOros2_control_node[2026-07-30 11:18:02.993] [info] Accepted new action goal ×2 + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942572 ms (missed cycles : 7). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942572 ms (missed cycles : 7).[0m ×2 + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585941 ms (missed cycles : 5). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585941 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 30.6s | 3 errors · 120 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036330 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036330 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184029 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184029 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948217 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948217 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.18sINFOobjective_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 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.41sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 2.41sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785410308.44176269 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751499 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751499 ms (missed cycles : 3).[0m ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.13sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785410309.16505003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOobjective_server_nodeFound path in 5 iterations (0.00450204 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 3.35sINFOros2_control_node[2026-07-30 11:18:29.389] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-07-30 11:18:29.389] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670061 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670061 ms (missed cycles : 2).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149845 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149845 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114487 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114487 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795413 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795413 ms (missed cycles : 2).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330758 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330758 ms (missed cycles : 2).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531893 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531893 ms (missed cycles : 2).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897176 ms (missed cycles : 4). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897176 ms (missed cycles : 4).[0m ×2 + 11.15sINFOobjective_server_node[2026-07-30 11:18:37.178] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460082 ms (missed cycles : 4). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.460082 ms (missed cycles : 4).[0m ×2 + 11.67sINFOobjective_server_node[0;m[0;93m2026-07-30 11:18:37.709659123 [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 + 11.67sINFOobjective_server_node[0;93m2026-07-30 11:18:37.709689024 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.77sINFOobjective_server_node[2026-07-30 11:18:37.806] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.20sINFOobjective_server_node[0;93m2026-07-30 11:18:38.235027128 [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 + 12.20sINFOobjective_server_node[0;93m2026-07-30 11:18:38.235063599 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788961 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788961 ms (missed cycles : 2).[0m ×2 + 12.27sINFOobjective_server_node[2026-07-30 11:18:38.305] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.32sINFOobjective_server_node[0;93m2026-07-30 11:18:38.352624189 [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 + 12.32sINFOobjective_server_node[0;93m2026-07-30 11:18:38.355477669 [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 + 12.32sINFOobjective_server_node[0;93m2026-07-30 11:18:38.355499679 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.33sINFOobjective_server_node[2026-07-30 11:18:38.370] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.68sINFOobjective_server_node[0;93m2026-07-30 11:18:38.716849142 [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 + 12.70sINFOobjective_server_node[0;93m2026-07-30 11:18:38.737890352 [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 + 12.70sINFOobjective_server_node[0;93m2026-07-30 11:18:38.737930593 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810525 ms (missed cycles : 5). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.810525 ms (missed cycles : 5).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835156 ms (missed cycles : 2). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835156 ms (missed cycles : 2).[0m ×2 + 14.42sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194786 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194786 ms (missed cycles : 3).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919652 ms (missed cycles : 6). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919652 ms (missed cycles : 6).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092971 ms (missed cycles : 4). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092971 ms (missed cycles : 4).[0m ×2 + 18.11sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 18.44sINFOobjective_server_nodeFound path in 4 iterations (0.00210274 s). ×2 + 18.49sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.52sINFOobjective_server_nodeFound path in 12 iterations (0.00371217 s). ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445282 ms (missed cycles : 3). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445282 ms (missed cycles : 3).[0m ×2 + 18.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.60sINFOobjective_server_nodeFound path in 2 iterations (0.002598 s). ×2 + 18.63sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 18.65sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 18.68sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.69sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 18.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.73sINFOobjective_server_nodeFound path in 12 iterations (0.00359135 s). ×2 + 18.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 18.79sINFOobjective_server_nodeFound path in 2 iterations (0.00299987 s). ×2 + 18.82sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] ×2 + 18.84sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 18.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.89sINFOobjective_server_nodeFound path in 4 iterations (0.00470757 s). ×2 + 18.95sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.97sINFOobjective_server_nodeFound path in 4 iterations (0.00314235 s). ×2 + 19.04sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] ×2 + 19.06sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×4 + 19.10sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 19.13sINFOobjective_server_nodeFound path in 1 iterations (0.00379667 s). ×2 + 19.18sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.20sINFOobjective_server_nodeFound path in 1 iterations (0.00198624 s). ×2 + 19.25sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 19.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.31sINFOobjective_server_nodeFound path in 1 iterations (0.0033007 s). ×2 + 19.35sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________________X] ×2 + 19.38sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 19.48sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560778 ms (missed cycles : 4). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560778 ms (missed cycles : 4).[0m ×2 + 19.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.65sINFOros2_control_node[2026-07-30 11:18:45.689] [info] Received new action goal ×2 + 19.65sINFOros2_control_node[2026-07-30 11:18:45.689] [info] Accepted new action goal ×2 + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384674 ms (missed cycles : 3). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384674 ms (missed cycles : 3).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716316 ms (missed cycles : 4). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716316 ms (missed cycles : 4).[0m ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.879855 ms (missed cycles : 7). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.879855 ms (missed cycles : 7).[0m ×2 + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934784 ms (missed cycles : 2). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934784 ms (missed cycles : 2).[0m ×2 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193953 ms (missed cycles : 3). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193953 ms (missed cycles : 3).[0m ×2 + 24.67sINFOros2_control_node[2026-07-30 11:18:50.701] [info] Received new action goal ×2 + 24.67sINFOros2_control_node[2026-07-30 11:18:50.701] [info] Accepted new action goal ×2 + 25.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126394 ms (missed cycles : 5). + 25.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126394 ms (missed cycles : 5).[0m ×2 + 26.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 26.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.35sINFOros2_control_node[2026-07-30 11:18:52.386] [info] Received new action goal ×2 + 26.35sINFOros2_control_node[2026-07-30 11:18:52.386] [info] Accepted new action goal ×2 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082005 ms (missed cycles : 4). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082005 ms (missed cycles : 4).[0m ×2 + 27.24sINFOros2_control_nodeMuJoCo sim: 0.60% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.58sWARNobjective_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 + 27.58sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.60sINFOros2_control_node[2026-07-30 11:18:53.637] [info] Received new action goal ×2 + 27.60sINFOros2_control_node[2026-07-30 11:18:53.637] [info] Accepted new action goal ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061380 ms (missed cycles : 4). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061380 ms (missed cycles : 4).[0m ×2 + 28.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469570 ms (missed cycles : 4). + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469570 ms (missed cycles : 4).[0m ×2 + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947603 ms (missed cycles : 3). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947603 ms (missed cycles : 3).[0m ×2 + 30.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107976 ms (missed cycles : 7). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107976 ms (missed cycles : 7).[0m ×2 + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804089 ms (missed cycles : 2). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804089 ms (missed cycles : 2).[0m ×2 + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036911 ms (missed cycles : 4). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036911 ms (missed cycles : 4).[0m ×2 + 32.97sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785410339.00285554 seconds ×3 + 32.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 32.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 32.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785410339.68344641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.87sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 33.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.89sINFOros2_control_node[2026-07-30 11:18:59.921] [info] Received new action goal ×2 + 33.89sINFOros2_control_node[2026-07-30 11:18:59.921] [info] Accepted new action goal ×2 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873413 ms (missed cycles : 5). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873413 ms (missed cycles : 5).[0m ×2 + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.440038 ms (missed cycles : 6). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.440038 ms (missed cycles : 6).[0m ×2 + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136006 ms (missed cycles : 3). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136006 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 23.7s | 3 errors · 105 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Got request to cancel active goal. ×2 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Canceling active goal... ×2 + 2.15sERRORobjective_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: 1785410160.49544573 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×8 + 2.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785410161.07138705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785410161.20152569 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785410161.83614039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144940 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144940 ms (missed cycles : 4).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113255 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113255 ms (missed cycles : 3).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340873 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340873 ms (missed cycles : 3).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865079 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865079 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373422 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373422 ms (missed cycles : 3).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747223 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747223 ms (missed cycles : 2).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928076 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928076 ms (missed cycles : 2).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890997 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890997 ms (missed cycles : 2).[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998179 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998179 ms (missed cycles : 2).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722830 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722830 ms (missed cycles : 2).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326155 ms (missed cycles : 3). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326155 ms (missed cycles : 3).[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069519 ms (missed cycles : 3). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069519 ms (missed cycles : 3).[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348678 ms (missed cycles : 3). + 19.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348678 ms (missed cycles : 3).[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.718185 ms (missed cycles : 5). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.718185 ms (missed cycles : 5).[0m ×2 + 21.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 21.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 21.02sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 21.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 21.30sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 21.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 21.31sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 21.34sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 21.36sINFOobjective_server_nodeFound path in 5 iterations (0.00297284 s). ×2 + 21.39sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 21.46sINFOros2_control_node[2026-07-30 11:16:19.803] [info] Received new action goal ×2 + 21.46sINFOros2_control_node[2026-07-30 11:16:19.803] [info] Accepted new action goal ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.020949 ms (missed cycles : 7). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.020949 ms (missed cycles : 7).[0m ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.260239 ms (missed cycles : 6). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.260239 ms (missed cycles : 6).[0m ×2 + 23.68sINFOros2_control_node[2026-07-30 11:16:22.025] [info] Received new action goal ×2 + 23.69sINFOros2_control_node[2026-07-30 11:16:22.025] [info] Accepted new action goal ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744876 ms (missed cycles : 2). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744876 ms (missed cycles : 2).[0m ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7).[0m ×2 + 25.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 25.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 25.35sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Received new action goal ×2 + 25.35sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Accepted new action goal ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2).[0m ×2 + 26.63sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785410184.97629786 seconds ×3 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5).[0m ×2 + 27.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785410185.61282873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785410185.69296241 seconds ×3 + 27.99sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785410186.32842660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3).[0m ×2 + 28.09sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 28.09sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 28.10sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Received new action goal ×2 + 28.10sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Accepted new action goal ×2 + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2).[0m ×2 + 30.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3). + 30.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 3 errors · 67 warnings · 193 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.07sINFOobjective_server_nodeFound path in 5 iterations (0.00485697 s). ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310185 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310185 ms (missed cycles : 6).[0m ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.17sINFOros2_control_node[2026-07-30 11:16:55.559] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-07-30 11:16:55.559] [info] Accepted new action goal ×2 + 0.58sINFOros2_control_node[2026-07-30 11:16:55.967] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-07-30 11:16:55.967] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819920 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819920 ms (missed cycles : 2).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954816 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954816 ms (missed cycles : 2).[0m ×2 + 2.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.99sINFOros2_control_node[2026-07-30 11:16:58.378] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-07-30 11:16:58.378] [info] Accepted new action goal ×2 + 3.08sINFOobjective_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 + 3.08sINFOros2_control_node[2026-07-30 11:16:58.475] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-07-30 11:16:58.475] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1785410218.48872280 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294031 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294031 ms (missed cycles : 2).[0m ×2 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×3 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×6 + 3.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785410219.14274669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:16:59.306] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:16:59.306] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219492 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219492 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316944 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316944 ms (missed cycles : 6).[0m ×2 + 6.30sINFOros2_control_node[2026-07-30 11:17:01.690] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-07-30 11:17:01.690] [info] Accepted new action goal ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884335 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884335 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897479 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.897479 ms (missed cycles : 4).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997607 ms (missed cycles : 4). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997607 ms (missed cycles : 4).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253812 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253812 ms (missed cycles : 2).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381846 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381846 ms (missed cycles : 3).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195215 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195215 ms (missed cycles : 2).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567562 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567562 ms (missed cycles : 3).[0m ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401075 ms (missed cycles : 3). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401075 ms (missed cycles : 3).[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203981 ms (missed cycles : 7). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203981 ms (missed cycles : 7).[0m ×2 + 14.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785410230.25311041 seconds ×3 + 15.43sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785410230.82619047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.51sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785410230.91632748 seconds ×3 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515661 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515661 ms (missed cycles : 2).[0m ×2 + 16.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785410231.57086802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.29sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 16.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.29sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Received new action goal ×2 + 16.29sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Accepted new action goal ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2).[0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3).[0m ×2 + 18.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785410233.69101501 seconds ×3 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3). | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 18 errors · 63 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.236451 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.236451 ms (missed cycles : 7).[0m ×2 + 0.46sINFOobjective_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 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.46sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.46sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.46sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.46sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558586 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558586 ms (missed cycles : 3).[0m ×2 + 1.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.42sINFOros2_control_node[2026-07-30 11:17:59.816] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-07-30 11:17:59.816] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311614 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311614 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785410280.97297001 seconds ×3 + 2.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456189 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456189 ms (missed cycles : 3).[0m ×2 + 3.20sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.20sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.20sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.36sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785410281.75988269 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.364508 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.364508 ms (missed cycles : 6).[0m ×2 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.58sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.60sINFOros2_control_node[2026-07-30 11:18:02.993] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-07-30 11:18:02.993] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942572 ms (missed cycles : 7). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942572 ms (missed cycles : 7).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585941 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.585941 ms (missed cycles : 5).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910436 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910436 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153712 ms (missed cycles : 4). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.153712 ms (missed cycles : 4).[0m ×2 + 8.31sINFOobjective_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 + 8.31sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.31sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.31sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.31sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174817 ms (missed cycles : 3). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174817 ms (missed cycles : 3).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678149 ms (missed cycles : 5). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678149 ms (missed cycles : 5).[0m ×2 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 10.68sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.71sINFOros2_control_node[2026-07-30 11:18:09.110] [info] Received new action goal ×2 + 10.71sINFOros2_control_node[2026-07-30 11:18:09.110] [info] Accepted new action goal ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848946 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848946 ms (missed cycles : 2).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.936733 ms (missed cycles : 10). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.936733 ms (missed cycles : 10).[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155199 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155199 ms (missed cycles : 3).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676714 ms (missed cycles : 3). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676714 ms (missed cycles : 3).[0m ×2 + 14.32sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785410292.72114348 seconds ×3 + 14.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785410293.37317586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 15.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.13sINFOros2_control_node[2026-07-30 11:18:13.527] [info] Received new action goal ×2 + 15.13sINFOros2_control_node[2026-07-30 11:18:13.527] [info] Accepted new action goal ×2 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932103 ms (missed cycles : 7). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932103 ms (missed cycles : 7).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650507 ms (missed cycles : 5). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650507 ms (missed cycles : 5).[0m ×2 + 16.40sINFOobjective_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 + 16.41sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.74sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 16.75sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6).[0m ×2 + 17.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410296.17734051 seconds ×3 + 17.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 17.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 17.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 17.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 17.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 17.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 69 errors · 50 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5).[0m ×2 + 0.02sINFOobjective_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 + 0.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Got request to cancel active goal. ×2 + 0.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Canceling active goal... ×2 + 0.04sERRORobjective_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: 1785410395.39092255 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785410395.97108173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785410397.19121528 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785410397.85871673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785410397.86055899 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785410398.45155573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785410398.45195889 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785410399.02702975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785410400.16716838 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648004 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648004 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705467 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705467 ms (missed cycles : 5).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795146 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795146 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407006 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.407006 ms (missed cycles : 4).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638493 ms (missed cycles : 3). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638493 ms (missed cycles : 3).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821342 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821342 ms (missed cycles : 2).[0m ×2 + 10.64sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.66sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORweb_video_auth_proxy-23process has died [pid 10001, 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 + 10.66sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.68sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORweb_bridge_auth_proxy-22process has died [pid 10000, 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 + 10.68sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.70sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.71sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.72sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.73sINFOvideo_server-21process has finished cleanly [pid 9999] ×2 + 10.73sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.74sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.75sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.76sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.77sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.77sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.78sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.79sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.80sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.81sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.82sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.82sINFOcontroller_managerShutdown request received.... + 10.82sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.82sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.82sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.82sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.82sINFOvideo_server2026/07/30 11:20:06 INF shutting down gracefully ×2 + 10.82sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.82sINFOvideo_server2026/07/30 11:20:06 INF [WebRTC] closing ×2 + 10.82sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.82sINFOvideo_server2026/07/30 11:20:06 INF [RTSP] closing ×2 + 10.82sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.82sINFOvideo_server2026/07/30 11:20:06 INF waiting for running hooks ×2 + 10.82sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.82sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.82sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOcontroller_managerShutting down the controller manager. + 10.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.82sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.82sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.82sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.82sINFOui_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 + 10.82sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.82sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.83sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.83sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.83sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.83sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.83sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.83sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.83sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.83sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.83sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.83sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.83sERRORmove_groupStack trace (most recent call last) in thread 10276: ×2 + 10.83sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.83sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f3a529a63, in __clone ×2 + 10.83sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f3a49caa3, in ×2 + 10.83sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f3a72edb3, in ×2 + 10.83sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f8f3ae71ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.83sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8f3aaa14d0, in rclcpp::Rate::sleep() ×2 + 10.83sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8f3a9f4a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.83sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8f3a9b9a71, in ×2 + 10.83sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f3a6fd390, in __cxa_throw ×2 + 10.83sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f3a6e7a54, in std::terminate() ×2 + 10.83sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f3a6fd0d9, in ×2 + 10.83sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8f3a6e7ff4, in ×2 + 10.83sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f3a4288fe, in abort ×2 + 10.83sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f3a44527d, in raise ×2 + 10.83sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.83sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.83sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8f3a49eb2c, in pthread_kill ×2 + 10.83sERRORmove_groupAborted (Signal sent by tkill() 9866 0) ×2 + 10.83sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.83sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.84sERRORmove_group-9process has died [pid 9866, 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_ci1ttni3 --params-file /tmp/launch_params_p41piqao --params-file /tmp/launch_params_szw0izmy --params-file /tmp/launch_params_b1koatl_ --params-file /tmp/launch_params_f5k8aacf --params-file /tmp/launch_params_imu03daj']. ×2 + 10.88sINFOobjective_server_node[0;m[2026-07-30 11:20:06.232] [moveit_pro_license] [info] ×2 + 10.88sINFOobjective_server_node************************************************* ×4 + 10.88sINFOobjective_server_node* MoveIt Pro License ×2 + 10.88sINFOobjective_server_node* Application has successfully terminated ×2 + 10.96sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.97sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.97sINFOobjective_server_node#16 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5619ed8466a4, in _start ×2 + 10.97sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faed5cd728a, in __libc_start_main ×2 + 10.97sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faed5cd71d0, in ×2 + 10.97sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faed5cf4bbd, in exit ×2 + 10.97sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faed5cf4a75, in ×2 + 10.97sINFOobjective_server_node#11 Object "/usr/local/lib/libspdlog.so.1.12.0", at 0x7faed61c38f5, in spdlog::details::registry::~registry() ×2 + 10.97sINFOobjective_server_node#10 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5619ed846d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.97sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5619ed84d315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.97sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5619ed84c5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.98sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5619ed848b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.98sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5619ed846d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.98sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faed687d454, in rclcpp::Node::~Node() ×2 + 10.98sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faed6838515, in ×2 + 10.98sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faed687bd20, in ×2 + 10.98sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faed687bc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.98sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faed68385d9, in ×2 + 10.98sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faed683d161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.98sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fae90628030]) ×2 + 11.03sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.03sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.52sERRORobjective_server_node_main-14process has died [pid 9871, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_a8z1qhun --params-file /tmp/launch_params__x8p0yuc --params-file /tmp/launch_params_bxd5xjtq --params-file /tmp/launch_params_yq9p534v --params-file /tmp/launch_params_fwtgpyxq --params-file /tmp/launch_params_nmpgw3eb --params-file /tmp/launch_params_4xb06zex --params-file /tmp/launch_params_zklo034r --params-file /tmp/launch_params_wgfcy793']. ×2 + 11.52sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.76sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9998] ×2 + 11.76sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.81sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9870] ×2 + 11.82sINFOexecute_objective_bridge-17process has finished cleanly [pid 9892] ×2 + 11.83sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9869] ×2 + 11.84sERRORui_teleop_bridge-18process has died [pid 9893, 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_j7p7ma83']. ×2 + 11.84sINFOcomponent_container_mt-16process has finished cleanly [pid 9891] ×2 + 11.86sINFOwaypoint_manager_node-11process has finished cleanly [pid 9868] ×2 + 11.88sINFOparameter_manager_node-10process has finished cleanly [pid 9867] ×2 + 12.95sINFOcomponent_container_mt-15process has finished cleanly [pid 9872] ×2 + 13.04sINFOweb_bridge-19process has finished cleanly [pid 9894] ×2 + 13.04sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.54sINFOros2_control_node-1process has finished cleanly [pid 9847] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 63 warnings · 194 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×6 + 0.06sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×4 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.17sINFOros2_control_node[2026-07-30 11:16:44.421] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-07-30 11:16:44.421] [info] Accepted new action goal ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786786 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786786 ms (missed cycles : 2).[0m ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973648 ms (missed cycles : 7). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973648 ms (missed cycles : 7).[0m ×2 + 2.35sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 2.63sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 2.63sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 2.64sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 2.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785410206.90014601 seconds ×3 + 2.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154861 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154861 ms (missed cycles : 2).[0m ×2 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187507 ms (missed cycles : 4). + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187507 ms (missed cycles : 4).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785410208.02467012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 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 11:16:48.207] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-07-30 11:16:48.207] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597697 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597697 ms (missed cycles : 4).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844710 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844710 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300004 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300004 ms (missed cycles : 3).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798293 ms (missed cycles : 4). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798293 ms (missed cycles : 4).[0m ×2 + 8.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.23sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.41sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (1.3e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 5 iterations (0.00366634 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 1 iterations (0.00312779 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 8.88sINFOros2_control_node[2026-07-30 11:16:53.130] [info] Received new action goal ×2 + 8.88sINFOros2_control_node[2026-07-30 11:16:53.130] [info] Accepted new action goal ×2 + 9.02sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993749 ms (missed cycles : 3). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993749 ms (missed cycles : 3).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938922 ms (missed cycles : 4). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938922 ms (missed cycles : 4).[0m ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (1.7e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 11.21sINFOobjective_server_nodeFound path in 5 iterations (0.00485697 s). ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310185 ms (missed cycles : 6). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310185 ms (missed cycles : 6).[0m ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 11.31sINFOros2_control_node[2026-07-30 11:16:55.559] [info] Received new action goal ×2 + 11.31sINFOros2_control_node[2026-07-30 11:16:55.559] [info] Accepted new action goal ×2 + 11.71sINFOros2_control_node[2026-07-30 11:16:55.967] [info] Received new action goal ×2 + 11.71sINFOros2_control_node[2026-07-30 11:16:55.967] [info] Accepted new action goal ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819920 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819920 ms (missed cycles : 2).[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954816 ms (missed cycles : 2). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954816 ms (missed cycles : 2).[0m ×2 + 14.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 14.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.13sINFOros2_control_node[2026-07-30 11:16:58.378] [info] Received new action goal ×2 + 14.13sINFOros2_control_node[2026-07-30 11:16:58.378] [info] Accepted new action goal ×2 + 14.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.22sINFOros2_control_node[2026-07-30 11:16:58.475] [info] Got request to cancel active goal. ×2 + 14.22sINFOros2_control_node[2026-07-30 11:16:58.475] [info] Canceling active goal... ×2 + 14.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410218.48872280 seconds ×3 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294031 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294031 ms (missed cycles : 2).[0m ×2 + 14.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785410219.14274669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.05sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 15.05sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.05sINFOros2_control_node[2026-07-30 11:16:59.306] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-07-30 11:16:59.306] [info] Accepted new action goal ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219492 ms (missed cycles : 2). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219492 ms (missed cycles : 2).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316944 ms (missed cycles : 6). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316944 ms (missed cycles : 6).[0m ×2 + 17.44sINFOros2_control_node[2026-07-30 11:17:01.690] [info] Received new action goal ×2 + 17.44sINFOros2_control_node[2026-07-30 11:17:01.690] [info] Accepted new action goal ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884335 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884335 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 6 errors · 69 warnings · 217 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754837 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.527869 ms (missed cycles : 8). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.527869 ms (missed cycles : 8).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216883 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216883 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785410371.35357690 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×12 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×6 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185318 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185318 ms (missed cycles : 5).[0m ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 3.15sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.15sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×12 + 3.16sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785410371.99152517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.27sINFOros2_control_node[2026-07-30 11:19:32.105] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-07-30 11:19:32.105] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347551 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347551 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634231 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634231 ms (missed cycles : 3).[0m ×2 + 5.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209331 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209331 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107949 ms (missed cycles : 7). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107949 ms (missed cycles : 7).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158738 ms (missed cycles : 4). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158738 ms (missed cycles : 4).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170765 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170765 ms (missed cycles : 2).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3).[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 13.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.54sERRORobjective_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: 1785410382.37642717 seconds ×3 + 14.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.23sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 14.84sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_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 + 14.87sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 15.45sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 15.45sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 15.45sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 15.45sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 16.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 16.37sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 16.37sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.39sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 16.39sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 72 warnings · 346 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 0.59sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×7 + 0.59sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.59sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×14 + 0.60sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 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: 1785410147.35392237 seconds ×3 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 1.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 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 + 3.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.55sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.09sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.10sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.10sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729326 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729326 ms (missed cycles : 5).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945893 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945893 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.857796 ms (missed cycles : 7). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.857796 ms (missed cycles : 7).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819581 ms (missed cycles : 5). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.819581 ms (missed cycles : 5).[0m ×2 + 9.81sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.83sINFOros2_control_node[2026-07-30 11:15:56.525] [info] Received new action goal ×2 + 9.83sINFOros2_control_node[2026-07-30 11:15:56.525] [info] Accepted new action goal ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200903 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200903 ms (missed cycles : 3).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5).[0m ×2 + 13.13sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 13.14sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.35sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Accepted new action goal ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4).[0m ×2 + 13.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.79sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Got request to cancel active goal. ×2 + 13.79sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Canceling active goal... ×2 + 13.80sERRORobjective_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: 1785410160.49544573 seconds ×3 + 13.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785410161.07138705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785410161.20152569 seconds ×3 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7).[0m ×2 + 15.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785410161.83614039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 15.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.33sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Received new action goal ×2 + 15.33sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Accepted new action goal ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 66 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947603 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107976 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107976 ms (missed cycles : 7).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804089 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804089 ms (missed cycles : 2).[0m ×2 + 2.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036911 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036911 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785410339.00285554 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.75sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785410339.68344641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-07-30 11:18:59.921] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-07-30 11:18:59.921] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873413 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873413 ms (missed cycles : 5).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.440038 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.440038 ms (missed cycles : 6).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136006 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136006 ms (missed cycles : 3).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547805 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547805 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824311 ms (missed cycles : 2).[0m ×2 + 9.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.04sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.04sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073354 ms (missed cycles : 4). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073354 ms (missed cycles : 4).[0m ×2 + 9.32sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 9.32sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.33sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.37sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.39sINFOobjective_server_nodeFound path in 5 iterations (0.00303288 s). ×2 + 9.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 9.46sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.49sINFOros2_control_node[2026-07-30 11:19:05.325] [info] Received new action goal ×2 + 9.49sINFOros2_control_node[2026-07-30 11:19:05.325] [info] Accepted new action goal ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464716 ms (missed cycles : 2). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464716 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 11.71sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 11.71sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 13.37sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.38sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 13.38sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 14.04sINFOobjective_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 + 14.05sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 14.05sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 14.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 14.79sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 14.98sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 14.98sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 16.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 63 warnings · 109 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_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 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924464 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924464 ms (missed cycles : 3).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283613 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283613 ms (missed cycles : 2).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030925 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030925 ms (missed cycles : 2).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041464 ms (missed cycles : 4). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041464 ms (missed cycles : 4).[0m ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563189 ms (missed cycles : 6). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563189 ms (missed cycles : 6).[0m ×2 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.282195 ms (missed cycles : 9). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.282195 ms (missed cycles : 9).[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006247 ms (missed cycles : 4). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006247 ms (missed cycles : 4).[0m ×2 + 13.66sERRORobjective_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: 1785410360.88835478 seconds ×3 + 14.25sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785410361.47680140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052089 ms (missed cycles : 4). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052089 ms (missed cycles : 4).[0m ×2 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 14.51sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.52sINFOros2_control_node[2026-07-30 11:19:21.749] [info] Received new action goal ×2 + 14.52sINFOros2_control_node[2026-07-30 11:19:21.750] [info] Accepted new action goal ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339084 ms (missed cycles : 3). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339084 ms (missed cycles : 3).[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649589 ms (missed cycles : 5). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649589 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.9s | 9 errors · 78 warnings · 321 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_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 + 1.26sERRORobjective_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: 1785410382.37642717 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×9 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×18 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×16 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×32 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×18 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×9 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×18 + 1.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×9 + 1.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×18 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×7 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 1.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×16 + 1.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 3.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 3.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382830 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382830 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.44sINFOros2_control_node[2026-07-30 11:19:48.560] [info] Received new action goal ×2 + 7.44sINFOros2_control_node[2026-07-30 11:19:48.560] [info] Accepted new action goal ×2 + 7.44sINFOros2_control_node[2026-07-30 11:19:48.560] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.838074 ms (missed cycles : 6). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.838074 ms (missed cycles : 6).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794505 ms (missed cycles : 5). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794505 ms (missed cycles : 5).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648727 ms (missed cycles : 2). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648727 ms (missed cycles : 2).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899039 ms (missed cycles : 5). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899039 ms (missed cycles : 5).[0m ×2 + 12.16sINFOros2_control_nodeMuJoCo sim: 0.56% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261607 ms (missed cycles : 3). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261607 ms (missed cycles : 3).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7).[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5).[0m ×2 + 14.27sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Got request to cancel active goal. ×2 + 14.27sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Canceling active goal... ×2 + 14.27sERRORobjective_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: 1785410395.39092255 seconds ×3 + 14.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785410395.97108173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4).[0m ×2 + 16.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785410397.19121528 seconds ×3 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2).[0m ×2 + 16.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785410397.85871673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.74sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785410397.86055899 seconds ×3 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3).[0m ×2 + 17.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785410398.45155573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785410398.45195889 seconds ×3 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 63 warnings · 154 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256498 ms (missed cycles : 5). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.256498 ms (missed cycles : 5).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236484 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236484 ms (missed cycles : 3).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871531 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871531 ms (missed cycles : 3).[0m ×2 + 10.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 10.11sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994707 ms (missed cycles : 5). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.994707 ms (missed cycles : 5).[0m ×2 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.39sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.39sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 10.40sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 10.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 10.47sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 10.49sINFOobjective_server_nodeFound path in 5 iterations (0.00375853 s). ×2 + 10.52sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 10.55sINFOobjective_server_nodeFound path in 1 iterations (0.00296841 s). ×2 + 10.60sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 10.62sINFOobjective_server_nodeFound path in 2 iterations (0.00433353 s). ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X______________________X] ×2 + 10.68sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 10.74sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 10.85sINFOros2_control_node[2026-07-30 11:16:44.421] [info] Received new action goal ×2 + 10.85sINFOros2_control_node[2026-07-30 11:16:44.421] [info] Accepted new action goal ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786786 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786786 ms (missed cycles : 2).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973648 ms (missed cycles : 7). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.973648 ms (missed cycles : 7).[0m ×2 + 13.03sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 13.31sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 13.31sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 13.32sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 13.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785410206.90014601 seconds ×3 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154861 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154861 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187507 ms (missed cycles : 4). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.187507 ms (missed cycles : 4).[0m ×2 + 14.45sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785410208.02467012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sINFOros2_control_node[2026-07-30 11:16:48.207] [info] Received new action goal ×2 + 14.64sINFOros2_control_node[2026-07-30 11:16:48.207] [info] Accepted new action goal ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597697 ms (missed cycles : 4). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.597697 ms (missed cycles : 4).[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844710 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844710 ms (missed cycles : 2).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300004 ms (missed cycles : 3). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300004 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 63 warnings · 171 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785410184.97629786 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×3 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×6 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785410185.61282873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785410185.69296241 seconds ×3 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785410186.32842660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8).[0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.48sINFOros2_control_node[2026-07-30 11:16:29.781] [info] Received new action goal ×2 + 6.48sINFOros2_control_node[2026-07-30 11:16:29.781] [info] Accepted new action goal ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343064 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343064 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153228 ms (missed cycles : 6). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153228 ms (missed cycles : 6).[0m ×2 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.81sINFOros2_control_node[2026-07-30 11:16:32.111] [info] Received new action goal ×2 + 8.81sINFOros2_control_node[2026-07-30 11:16:32.111] [info] Accepted new action goal ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642211 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642211 ms (missed cycles : 2).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 11.15sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 11.15sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 13.18sINFOobjective_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 + 13.18sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 13.18sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 13.19sERRORobjective_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: 1785410196.49022555 seconds ×3 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 13.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.00sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 14.00sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 60 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563189 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563189 ms (missed cycles : 6).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.282195 ms (missed cycles : 9). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.282195 ms (missed cycles : 9).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006247 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006247 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_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 + 2.41sERRORobjective_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: 1785410360.88835478 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.00sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785410361.47680140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052089 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052089 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.27sINFOros2_control_node[2026-07-30 11:19:21.749] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-07-30 11:19:21.750] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339084 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339084 ms (missed cycles : 3).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649589 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649589 ms (missed cycles : 5).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654428 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654428 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922230 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922230 ms (missed cycles : 4).[0m ×2 + 7.28sINFOros2_control_node[2026-07-30 11:19:25.757] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-07-30 11:19:25.757] [info] Accepted new action goal ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364990 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364990 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591541 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591541 ms (missed cycles : 3).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754837 ms (missed cycles : 5). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754837 ms (missed cycles : 5).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.527869 ms (missed cycles : 8). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.527869 ms (missed cycles : 8).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216883 ms (missed cycles : 4). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216883 ms (missed cycles : 4).[0m ×2 + 12.88sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785410371.35357690 seconds ×3 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185318 ms (missed cycles : 5). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185318 ms (missed cycles : 5).[0m ×2 + 13.51sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785410371.99152517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.61sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 13.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.63sINFOros2_control_node[2026-07-30 11:19:32.105] [info] Received new action goal ×2 + 13.63sINFOros2_control_node[2026-07-30 11:19:32.105] [info] Accepted new action goal ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347551 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347551 ms (missed cycles : 3).[0m ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634231 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634231 ms (missed cycles : 3).[0m ×2 + 15.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 15.55sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209331 ms (missed cycles : 3). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209331 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 9.9s | 21 errors · 66 warnings · 258 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6).[0m ×2 + 0.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410296.17734051 seconds ×3 + 0.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 0.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 0.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 0.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×3 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 1.44sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×6 + 1.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785410296.80241776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241322 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241322 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_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 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.62sINFOros2_control_node[2026-07-30 11:18:16.946] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-07-30 11:18:16.946] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283033 ms (missed cycles : 5). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283033 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_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 + 2.96sINFOobjective_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 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410298.51653242 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642364 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642364 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785410299.14987683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 11:18:19.329] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 11:18:19.329] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209692 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209692 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744300 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744300 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 6.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 6.49sINFOros2_control_node[2026-07-30 11:18:21.820] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-07-30 11:18:21.820] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829139 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829139 ms (missed cycles : 2).[0m ×2 + 8.51sINFOros2_control_node[2026-07-30 11:18:23.835] [info] Received new action goal ×2 + 8.51sINFOros2_control_node[2026-07-30 11:18:23.835] [info] Accepted new action goal ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.226893 ms (missed cycles : 9). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.226893 ms (missed cycles : 9).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991864 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991864 ms (missed cycles : 2).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036330 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036330 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184029 ms (missed cycles : 5). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184029 ms (missed cycles : 5).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948217 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948217 ms (missed cycles : 4).[0m ×2 + 13.11sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785410308.44176269 seconds ×3 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751499 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751499 ms (missed cycles : 3).[0m ×2 + 13.84sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785410309.16505003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.01sINFOobjective_server_nodeFound path in 5 iterations (0.00450204 s). ×2 + 14.05sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 14.06sINFOros2_control_node[2026-07-30 11:18:29.389] [info] Received new action goal ×2 + 14.06sINFOros2_control_node[2026-07-30 11:18:29.389] [info] Accepted new action goal ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670061 ms (missed cycles : 2). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670061 ms (missed cycles : 2).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149845 ms (missed cycles : 3). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149845 ms (missed cycles : 3).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114487 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114487 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 4.4s | 42 warnings · 141 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×3 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×6 + 0.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785410231.57086802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.12sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785410233.69101501 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097040 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097040 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785410235.26770735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_node[2026-07-30 11:17:16.024] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619093769 [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 + 5.05sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619144131 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.20sINFOobjective_server_node[2026-07-30 11:17:16.762] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168429167 [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 + 5.60sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168471308 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.69sINFOobjective_server_node[2026-07-30 11:17:17.250] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.73sINFOobjective_server_node[0;93m2026-07-30 11:17:17.292685616 [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 + 5.74sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295667107 [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 + 5.74sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295690768 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.75sINFOobjective_server_node[2026-07-30 11:17:17.313] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.08sINFOobjective_server_node[0;93m2026-07-30 11:17:17.641488213 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.10sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661177553 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.10sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661230264 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2).[0m ×2 + 7.55sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785410239.11479616 seconds ×3 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3).[0m ×2 + 8.27sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785410239.83070660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 8.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 8.35sINFOobjective_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 + 8.36sINFOobjective_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 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 8.50sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Received new action goal ×2 + 8.50sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3).[0m ×2 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 11.35sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Received new action goal ×2 + 11.35sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 42 warnings · 162 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567562 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567562 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401075 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401075 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203981 ms (missed cycles : 7). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203981 ms (missed cycles : 7).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785410230.25311041 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×3 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.92sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×6 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785410230.82619047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785410230.91632748 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515661 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515661 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785410231.57086802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785410233.69101501 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097040 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097040 ms (missed cycles : 3).[0m ×2 + 7.36sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785410235.26770735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.12sINFOobjective_server_node[2026-07-30 11:17:16.024] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4).[0m ×2 + 8.71sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619093769 [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 + 8.71sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619144131 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.85sINFOobjective_server_node[2026-07-30 11:17:16.762] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3).[0m ×2 + 9.26sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168429167 [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 + 9.26sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168471308 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.34sINFOobjective_server_node[2026-07-30 11:17:17.250] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.39sINFOobjective_server_node[0;93m2026-07-30 11:17:17.292685616 [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 + 9.40sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295667107 [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 + 9.40sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295690768 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.41sINFOobjective_server_node[2026-07-30 11:17:17.313] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.73sINFOobjective_server_node[0;93m2026-07-30 11:17:17.641488213 [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 11:17:17.661177553 [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 11:17:17.661230264 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 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 · 42 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848946 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848946 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.936733 ms (missed cycles : 10). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.936733 ms (missed cycles : 10).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155199 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155199 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676714 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676714 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785410292.72114348 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×3 + 3.69sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.69sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×6 + 3.70sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785410293.37317586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.86sINFOros2_control_node[2026-07-30 11:18:13.527] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-07-30 11:18:13.527] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932103 ms (missed cycles : 7). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932103 ms (missed cycles : 7).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650507 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650507 ms (missed cycles : 5).[0m ×2 + 5.13sINFOobjective_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 + 5.14sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.19sINFOobjective_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 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.46sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 5.48sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410296.17734051 seconds ×3 + 6.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785410296.80241776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241322 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241322 ms (missed cycles : 2).[0m ×2 + 7.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 7.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 7.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 7.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 7.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.27sINFOros2_control_node[2026-07-30 11:18:16.946] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-07-30 11:18:16.946] [info] Accepted new action goal ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283033 ms (missed cycles : 5). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283033 ms (missed cycles : 5).[0m ×2 + 8.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410298.51653242 seconds ×3 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642364 ms (missed cycles : 2). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642364 ms (missed cycles : 2).[0m ×2 + 9.48sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785410299.14987683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.64sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 9.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 9.66sINFOros2_control_node[2026-07-30 11:18:19.329] [info] Received new action goal ×2 + 9.66sINFOros2_control_node[2026-07-30 11:18:19.329] [info] Accepted new action goal ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209692 ms (missed cycles : 5). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209692 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 2.3s | 21 errors · 39 warnings · 212 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×3 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×6 + 0.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785410293.37317586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 0.15sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.16sINFOros2_control_node[2026-07-30 11:18:13.527] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-07-30 11:18:13.527] [info] Accepted new action goal ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932103 ms (missed cycles : 7). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932103 ms (missed cycles : 7).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650507 ms (missed cycles : 5). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650507 ms (missed cycles : 5).[0m ×2 + 1.44sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 1.45sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 1.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 1.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.77sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 1.78sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410296.17734051 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785410296.80241776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241322 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241322 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.58sINFOros2_control_node[2026-07-30 11:18:16.946] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-07-30 11:18:16.946] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283033 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283033 ms (missed cycles : 5).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410298.51653242 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642364 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642364 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785410299.14987683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.97sINFOros2_control_node[2026-07-30 11:18:19.329] [info] Received new action goal ×2 + 5.97sINFOros2_control_node[2026-07-30 11:18:19.329] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209692 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209692 ms (missed cycles : 5).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744300 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744300 ms (missed cycles : 2).[0m ×2 + 8.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 8.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 8.46sINFOros2_control_node[2026-07-30 11:18:21.820] [info] Received new action goal ×2 + 8.46sINFOros2_control_node[2026-07-30 11:18:21.820] [info] Accepted new action goal ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 3 errors · 40 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899039 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899039 ms (missed cycles : 5).[0m ×2 + 0.95sINFOros2_control_nodeMuJoCo sim: 0.56% 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 4.261607 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261607 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7).[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5).[0m ×2 + 3.05sINFOobjective_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 + 3.06sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Canceling active goal... ×2 + 3.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410395.39092255 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.65sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.65sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.65sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×8 + 3.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785410395.97108173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785410397.19121528 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785410397.85871673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.54sINFOobjective_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 + 5.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785410397.86055899 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785410398.45155573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785410398.45195889 seconds ×3 + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785410399.02702975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4).[0m ×2 + 7.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785410400.16716838 seconds ×3 + 7.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648004 ms (missed cycles : 3). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 58 warnings · 570 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.12sINFOobjective_server_node[2026-07-30 11:15:42.767] [moveit_pro_license] [info] ×2 + 0.12sINFOobjective_server_node************************************************* ×4 + 0.12sINFOobjective_server_node* MoveIt Pro License ×2 + 0.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.22sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.22sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.23sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.23sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.23sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.23sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.23sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.23sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.23sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.23sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.55sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.55sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.58sWARNobjective_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 + 0.60sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.60sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.60sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.60sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.60sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.60sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.60sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.60sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.60sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.60sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.60sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.60sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.60sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.60sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.75sINFOcomponent_container_mt[2026-07-30 11:15:43.393] [moveit_pro_license] [info] ×2 + 0.75sINFOcomponent_container_mt************************************************* ×4 + 0.75sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.75sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.79sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.79sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.79sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.79sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.79sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.79sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.80sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.80sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOforce_torque_sensor_broadcasterconfigure successful + 0.81sINFOros2_control_nodeconfigure successful[0m ×2 + 0.81sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.81sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392295 ms (missed cycles : 2). + 0.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392295 ms (missed cycles : 2).[0m ×2 + 1.11sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.11sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.11sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.11sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.11sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.12sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.12sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.14sINFOros2-2process has finished cleanly [pid 9848] ×2 + 1.15sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.15sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.16sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.16sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.17sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.17sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.48sINFOros2-3process has finished cleanly [pid 9849] ×2 + 1.54sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.54sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.58sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.60sINFOros2_control_node[2026-07-30 11:15:44.248] [info] Controller state will be published at 20 Hz. ×2 + 1.60sINFOros2_control_node[2026-07-30 11:15:44.249] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.74sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.91sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.93sINFOros2-8process has finished cleanly [pid 9854] ×2 + 1.97sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.98sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.98sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.98sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.98sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.98sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.98sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.98sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.98sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.98sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.98sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.98sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.99sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.99sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3).[0m ×2 + 2.28sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.28sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.28sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.30sINFOros2-5process has finished cleanly [pid 9851] ×2 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×7 + 2.34sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 2.34sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×14 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785410144.99017167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 2.34sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 2.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785410145.00042272 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 2.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 2.39sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.39sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.39sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.39sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.42sINFOros2_control_node[2026-07-30 11:15:45.067] [info] Controller state will be published at 10 Hz. ×2 + 2.42sINFOros2_control_node[2026-07-30 11:15:45.069] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.75sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.75sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.75sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.75sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 2.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 2.80sINFOros2-7process has finished cleanly [pid 9853] ×2 + 2.80sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.81sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.81sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.81sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.81sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.81sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.81sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.82sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.82sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.16sINFOros2-4process has finished cleanly [pid 9850] ×2 + 3.20sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 3.20sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 3.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.24sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.24sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.26sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.26sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 3.27sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.62sINFOros2-6process has finished cleanly [pid 9852] ×2 + 4.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 7.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.60sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 7.60sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 33 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:16:22.025] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 11:16:22.025] [info] Accepted new action goal ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744876 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744876 ms (missed cycles : 2).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7).[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. ×3 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Accepted new action goal ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785410184.97629786 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 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5).[0m ×2 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785410185.61282873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785410185.69296241 seconds ×3 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785410186.32842660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.42sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 6 errors · 36 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sERRORobjective_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: 1785410382.37642717 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 5.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 5.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 6.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Got request to cancel active goal. ×2 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Canceling active goal... ×2 + 2.15sERRORobjective_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: 1785410160.49544573 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785410161.07138705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785410161.20152569 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785410161.83614039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.7s | 3 errors · 36 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5).[0m ×2 + 1.02sINFOobjective_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 + 1.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Got request to cancel active goal. ×2 + 1.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Canceling active goal... ×2 + 1.04sERRORobjective_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: 1785410395.39092255 seconds ×3 + 1.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×8 + 1.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785410395.97108173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785410397.19121528 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785410397.85871673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785410397.86055899 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785410398.45155573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785410398.45195889 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785410399.02702975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785410400.16716838 seconds ×3 + 5.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648004 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648004 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 27 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567562 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567562 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401075 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401075 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203981 ms (missed cycles : 7). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203981 ms (missed cycles : 7).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785410230.25311041 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.92sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785410230.82619047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785410230.91632748 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515661 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515661 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785410231.57086802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785410233.69101501 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 51 warnings · 439 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 + 0.03sINFOros2-3process has finished cleanly [pid 9849] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.15sINFOros2_control_node[2026-07-30 11:15:44.248] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-07-30 11:15:44.249] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.48sINFOros2-8process has finished cleanly [pid 9854] ×2 + 0.52sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.52sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.52sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.52sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.53sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.53sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 9851] ×2 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×7 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×14 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785410144.99017167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785410145.00042272 seconds ×3 + 0.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-07-30 11:15:45.067] [info] Controller state will be published at 10 Hz. ×2 + 0.97sINFOros2_control_node[2026-07-30 11:15:45.069] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.30sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.30sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.31sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.31sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.35sINFOros2-7process has finished cleanly [pid 9853] ×2 + 1.35sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.35sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.37sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.71sINFOros2-4process has finished cleanly [pid 9850] ×2 + 1.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.78sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.78sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.79sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.81sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.81sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 1.82sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.17sINFOros2-6process has finished cleanly [pid 9852] ×2 + 2.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_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 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.15sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 6 errors · 36 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 2.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sERRORobjective_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: 1785410382.37642717 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 2.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 4.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 4.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 4.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 4.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 36 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5).[0m ×2 + 0.02sINFOobjective_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 + 0.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Got request to cancel active goal. ×2 + 0.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Canceling active goal... ×2 + 0.04sERRORobjective_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: 1785410395.39092255 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.61sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 0.62sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×8 + 0.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785410395.97108173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785410397.19121528 seconds ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785410397.85871673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785410397.86055899 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785410398.45155573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785410398.45195889 seconds ×3 + 3.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785410399.02702975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785410400.16716838 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648004 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648004 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705467 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.705467 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.1s | 3 errors · 30 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.1s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Got request to cancel active goal. ×2 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Canceling active goal... ×2 + 2.15sERRORobjective_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: 1785410160.49544573 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785410161.07138705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785410161.20152569 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785410161.83614039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:17:16.024] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4).[0m ×2 + 0.59sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619093769 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619144131 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 11:17:16.762] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168429167 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168471308 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 11:17:17.250] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 11:17:17.292685616 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295667107 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295690768 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.29sINFOobjective_server_node[2026-07-30 11:17:17.313] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.62sINFOobjective_server_node[0;93m2026-07-30 11:17:17.641488213 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661177553 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661230264 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785410239.11479616 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3).[0m ×2 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785410239.83070660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_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 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Accepted new action goal ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 30 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785410184.97629786 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785410185.61282873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785410185.69296241 seconds ×3 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785410186.32842660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Got request to cancel active goal. ×2 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Canceling active goal... ×2 + 2.15sERRORobjective_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: 1785410160.49544573 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785410161.07138705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785410161.20152569 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785410161.83614039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 30 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785410184.97629786 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785410185.61282873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785410185.69296241 seconds ×3 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785410186.32842660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 18 errors · 24 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848946 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848946 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.936733 ms (missed cycles : 10). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.936733 ms (missed cycles : 10).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155199 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155199 ms (missed cycles : 3).[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676714 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676714 ms (missed cycles : 3).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785410292.72114348 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.69sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.69sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.69sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.70sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785410293.37317586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.86sINFOros2_control_node[2026-07-30 11:18:13.527] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-07-30 11:18:13.527] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932103 ms (missed cycles : 7). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932103 ms (missed cycles : 7).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650507 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650507 ms (missed cycles : 5).[0m ×2 + 5.13sINFOobjective_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 + 5.14sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.19sINFOobjective_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 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 5.48sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6).[0m ×2 + 6.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410296.17734051 seconds ×3 + 6.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 6 errors · 33 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_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 + 1.26sERRORobjective_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: 1785410382.37642717 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 3.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 3.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 6 errors · 33 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 1.26sINFOobjective_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 + 1.26sERRORobjective_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: 1785410382.37642717 seconds ×3 + 1.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 1.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.58sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 3.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 3.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 3.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638336 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.620435 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 24 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Got request to cancel active goal. ×2 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Canceling active goal... ×2 + 2.15sERRORobjective_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: 1785410160.49544573 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785410161.07138705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785410161.20152569 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785410161.83614039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 24 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Got request to cancel active goal. ×2 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Canceling active goal... ×2 + 2.15sERRORobjective_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: 1785410160.49544573 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785410161.07138705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785410161.20152569 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785410161.83614039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Got request to cancel active goal. ×2 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Canceling active goal... ×2 + 2.15sERRORobjective_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: 1785410160.49544573 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785410161.07138705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785410161.20152569 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785410161.83614039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 27 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451127 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158382 ms (missed cycles : 5).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.49sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Received new action goal ×2 + 1.70sINFOros2_control_node[2026-07-30 11:16:00.044] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974959 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Got request to cancel active goal. ×2 + 2.14sINFOros2_control_node[2026-07-30 11:16:00.485] [info] Canceling active goal... ×2 + 2.15sERRORobjective_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: 1785410160.49544573 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.73sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.73sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.73sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785410161.07138705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785410161.20152569 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.984411 ms (missed cycles : 7).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785410161.83614039 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-07-30 11:16:02.029] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605028 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400148 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704594 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 30 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785410184.97629786 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785410185.61282873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785410185.69296241 seconds ×3 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785410186.32842660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 30 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.623028 ms (missed cycles : 7).[0m ×2 + 0.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.38sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-07-30 11:16:23.689] [info] Accepted new action goal ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472509 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785410184.97629786 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224990 ms (missed cycles : 5).[0m ×2 + 2.28sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.29sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.29sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.31sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785410185.61282873 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785410185.69296241 seconds ×3 + 3.03sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785410186.32842660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048654 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.13sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Received new action goal ×2 + 3.14sINFOros2_control_node[2026-07-30 11:16:26.442] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692415 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789021 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.480538 ms (missed cycles : 8).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 24 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.330085 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-07-30 11:16:34.449] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.000274 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399191 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-07-30 11:16:36.480] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785410196.49022555 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.308973 ms (missed cycles : 7).[0m ×2 + 3.52sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785410197.10640073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.300] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-07-30 11:16:37.301] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360595 ms (missed cycles : 2).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364009 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025448 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 27 warnings · 89 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.7e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 0.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.07sINFOobjective_server_nodeFound path in 5 iterations (0.00485697 s). ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310185 ms (missed cycles : 6). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310185 ms (missed cycles : 6).[0m ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 0.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOros2_control_node[2026-07-30 11:16:55.559] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-07-30 11:16:55.559] [info] Accepted new action goal ×2 + 0.58sINFOros2_control_node[2026-07-30 11:16:55.967] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-07-30 11:16:55.967] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819920 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819920 ms (missed cycles : 2).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954816 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954816 ms (missed cycles : 2).[0m ×2 + 2.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.99sINFOros2_control_node[2026-07-30 11:16:58.378] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-07-30 11:16:58.378] [info] Accepted new action goal ×2 + 3.08sINFOobjective_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 + 3.08sINFOros2_control_node[2026-07-30 11:16:58.475] [info] Got request to cancel active goal. ×2 + 3.08sINFOros2_control_node[2026-07-30 11:16:58.475] [info] Canceling active goal... ×2 + 3.10sERRORobjective_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: 1785410218.48872280 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294031 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294031 ms (missed cycles : 2).[0m ×2 + 3.67sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.67sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.67sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.75sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785410219.14274669 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:16:59.306] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:16:59.306] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219492 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219492 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316944 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.316944 ms (missed cycles : 6).[0m ×2 + 6.30sINFOros2_control_node[2026-07-30 11:17:01.690] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-07-30 11:17:01.690] [info] Accepted new action goal ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884335 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884335 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 25 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567562 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567562 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401075 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401075 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203981 ms (missed cycles : 7). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203981 ms (missed cycles : 7).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785410230.25311041 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 2.92sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 2.92sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785410230.82619047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785410230.91632748 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515661 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515661 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785410231.57086802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785410233.69101501 seconds ×3 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3). | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 27 warnings · 77 info |
+ 0.00sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 0.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785410231.57086802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.12sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-07-30 11:17:11.684] [info] Accepted new action goal ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976395 ms (missed cycles : 2).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444909 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785410233.69101501 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592980 ms (missed cycles : 3).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097040 ms (missed cycles : 3). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097040 ms (missed cycles : 3).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785410235.26770735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_node[2026-07-30 11:17:16.024] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4).[0m ×2 + 5.05sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619093769 [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 + 5.05sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619144131 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.20sINFOobjective_server_node[2026-07-30 11:17:16.762] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168429167 [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 + 5.60sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168471308 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.69sINFOobjective_server_node[2026-07-30 11:17:17.250] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.73sINFOobjective_server_node[0;93m2026-07-30 11:17:17.292685616 [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 + 5.74sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295667107 [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 + 5.74sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295690768 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.75sINFOobjective_server_node[2026-07-30 11:17:17.313] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.08sINFOobjective_server_node[0;93m2026-07-30 11:17:17.641488213 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.10sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661177553 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.10sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661230264 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:17:16.024] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4).[0m ×2 + 0.59sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619093769 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619144131 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 11:17:16.762] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168429167 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168471308 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 11:17:17.250] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 11:17:17.292685616 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295667107 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295690768 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.29sINFOobjective_server_node[2026-07-30 11:17:17.313] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.62sINFOobjective_server_node[0;93m2026-07-30 11:17:17.641488213 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661177553 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661230264 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785410239.11479616 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3).[0m ×2 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785410239.83070660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_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 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:17:16.024] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4).[0m ×2 + 0.59sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619093769 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619144131 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 11:17:16.762] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168429167 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168471308 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 11:17:17.250] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 11:17:17.292685616 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295667107 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295690768 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.29sINFOobjective_server_node[2026-07-30 11:17:17.313] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.62sINFOobjective_server_node[0;93m2026-07-30 11:17:17.641488213 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661177553 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661230264 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785410239.11479616 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3).[0m ×2 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785410239.83070660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_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 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:17:16.024] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4).[0m ×2 + 0.59sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619093769 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619144131 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 11:17:16.762] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168429167 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168471308 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 11:17:17.250] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 11:17:17.292685616 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295667107 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295690768 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.29sINFOobjective_server_node[2026-07-30 11:17:17.313] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.62sINFOobjective_server_node[0;93m2026-07-30 11:17:17.641488213 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661177553 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661230264 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785410239.11479616 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3).[0m ×2 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785410239.83070660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_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 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 24 warnings · 92 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:17:16.024] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701509 ms (missed cycles : 4).[0m ×2 + 0.59sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619093769 [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 + 0.60sINFOobjective_server_node[0;93m2026-07-30 11:17:16.619144131 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-07-30 11:17:16.762] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179666 ms (missed cycles : 3).[0m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168429167 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.14sINFOobjective_server_node[0;93m2026-07-30 11:17:17.168471308 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-07-30 11:17:17.250] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.27sINFOobjective_server_node[0;93m2026-07-30 11:17:17.292685616 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295667107 [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 + 1.28sINFOobjective_server_node[0;93m2026-07-30 11:17:17.295690768 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.29sINFOobjective_server_node[2026-07-30 11:17:17.313] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.62sINFOobjective_server_node[0;93m2026-07-30 11:17:17.641488213 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661177553 [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 + 1.64sINFOobjective_server_node[0;93m2026-07-30 11:17:17.661230264 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567100 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785410239.11479616 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083205 ms (missed cycles : 3).[0m ×2 + 3.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.74sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.74sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785410239.83070660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.90sINFOobjective_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 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-07-30 11:17:20.066] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299201 ms (missed cycles : 3).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.182375 ms (missed cycles : 7).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144827 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:17:22.914] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 18 errors · 30 warnings · 168 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.402939 ms (missed cycles : 6).[0m ×2 + 0.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410296.17734051 seconds ×3 + 0.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 0.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 0.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 0.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 1.44sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 1.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785410296.80241776 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241322 ms (missed cycles : 2). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241322 ms (missed cycles : 2).[0m ×2 + 1.53sINFOobjective_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 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.62sINFOros2_control_node[2026-07-30 11:18:16.946] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-07-30 11:18:16.946] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283033 ms (missed cycles : 5). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.283033 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_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 + 2.96sINFOobjective_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 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785410298.51653242 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642364 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642364 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785410299.14987683 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.00sINFOros2_control_node[2026-07-30 11:18:19.329] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-07-30 11:18:19.329] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209692 ms (missed cycles : 5). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.209692 ms (missed cycles : 5).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744300 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744300 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 6.49sINFOros2_control_node[2026-07-30 11:18:21.820] [info] Received new action goal ×2 + 6.49sINFOros2_control_node[2026-07-30 11:18:21.820] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782020 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 24 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036330 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036330 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184029 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.184029 ms (missed cycles : 5).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948217 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948217 ms (missed cycles : 4).[0m ×2 + 2.13sINFOobjective_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 + 2.18sINFOobjective_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 + 2.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.41sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 2.41sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785410308.44176269 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751499 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751499 ms (missed cycles : 3).[0m ×2 + 3.06sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.06sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.06sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.13sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785410309.16505003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOobjective_server_nodeFound path in 5 iterations (0.00450204 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 3.35sINFOros2_control_node[2026-07-30 11:18:29.389] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-07-30 11:18:29.389] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670061 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670061 ms (missed cycles : 2).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149845 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149845 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114487 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114487 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947603 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107976 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107976 ms (missed cycles : 7).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804089 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804089 ms (missed cycles : 2).[0m ×2 + 2.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036911 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036911 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785410339.00285554 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.75sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785410339.68344641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-07-30 11:18:59.921] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-07-30 11:18:59.921] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873413 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873413 ms (missed cycles : 5).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.440038 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.440038 ms (missed cycles : 6).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136006 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136006 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 24 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947603 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947603 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107976 ms (missed cycles : 7). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.107976 ms (missed cycles : 7).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804089 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804089 ms (missed cycles : 2).[0m ×2 + 2.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036911 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.036911 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785410339.00285554 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.75sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.75sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785410339.68344641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-07-30 11:18:59.921] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-07-30 11:18:59.921] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873413 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873413 ms (missed cycles : 5).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.440038 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.440038 ms (missed cycles : 6).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136006 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136006 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 30 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 30 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 30 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 30 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 30 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 30 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 30 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 30 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.310375 ms (missed cycles : 6).[0m ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-07-30 11:19:07.546] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568394 ms (missed cycles : 2).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Received new action goal ×2 + 1.99sINFOros2_control_node[2026-07-30 11:19:09.217] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053438 ms (missed cycles : 4).[0m ×2 + 2.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Got request to cancel active goal. ×2 + 2.66sINFOros2_control_node[2026-07-30 11:19:09.888] [info] Canceling active goal... ×2 + 2.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785410349.90870190 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327305 ms (missed cycles : 4).[0m ×2 + 3.35sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.35sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.35sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.40sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785410350.62791777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-07-30 11:19:10.819] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827546 ms (missed cycles : 3).[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171551 ms (missed cycles : 3).[0m ×2 + 5.52sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308559 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 21 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563189 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.563189 ms (missed cycles : 6).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.282195 ms (missed cycles : 9). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.282195 ms (missed cycles : 9).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006247 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006247 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_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 + 2.41sERRORobjective_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: 1785410360.88835478 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.00sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.00sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785410361.47680140 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052089 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052089 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.27sINFOros2_control_node[2026-07-30 11:19:21.749] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-07-30 11:19:21.750] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339084 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.339084 ms (missed cycles : 3).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649589 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.649589 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 27 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.754837 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.527869 ms (missed cycles : 8). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.527869 ms (missed cycles : 8).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216883 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216883 ms (missed cycles : 4).[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785410371.35357690 seconds ×3 + 2.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.54sINFOros2_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 8.185318 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.185318 ms (missed cycles : 5).[0m ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 3.15sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.15sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×2 + 3.16sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785410371.99152517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.27sINFOros2_control_node[2026-07-30 11:19:32.105] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-07-30 11:19:32.105] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347551 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347551 ms (missed cycles : 3).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634231 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634231 ms (missed cycles : 3).[0m ×2 + 5.19sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209331 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209331 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 6 errors · 33 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sERRORobjective_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: 1785410382.37642717 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 5.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 5.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 6.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 6 errors · 33 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sERRORobjective_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: 1785410382.37642717 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 5.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 5.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 6.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 6 errors · 33 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sERRORobjective_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: 1785410382.37642717 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 5.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 5.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 6.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 6 errors · 33 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301883 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738572 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464569 ms (missed cycles : 4).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415281 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sERRORobjective_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: 1785410382.37642717 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 3.88sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.88sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785410382.99673057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.95sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785410383.09687877 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500978 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785410383.67498636 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.59sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785410383.69741559 seconds ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072621 ms (missed cycles : 4).[0m ×2 + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag?
Details: Can't find a tree with name: Select Region and Cover
There were other errors that might be related to this failure:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser + 5.17sERRORobjective_server_nodeObjective Server Error: Failed to create Behavior Tree for Objective `Select Region and Cover`. Reason: Runtime Error while creating tree -- do you have a BehaviorTree ID same as the one specified in main_tree_to_execute tag? ×2 + 5.17sINFOobjective_server_nodeDetails: Can't find a tree with name: Select Region and Cover ×2 + 5.17sINFOobjective_server_nodeThere were other errors that might be related to this failure: ×2 + 6.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785410385.11278749 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030503 ms (missed cycles : 7).[0m ×2 + 6.10sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-07-30 11:19:45.217] [info] Accepted new action goal ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 34 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5).[0m ×2 + 1.02sINFOobjective_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 + 1.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Got request to cancel active goal. ×2 + 1.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Canceling active goal... ×2 + 1.04sERRORobjective_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: 1785410395.39092255 seconds ×3 + 1.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×8 + 1.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785410395.97108173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785410397.19121528 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785410397.85871673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785410397.86055899 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785410398.45155573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785410398.45195889 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785410399.02702975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785410400.16716838 seconds ×3 + 5.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648004 ms (missed cycles : 3). | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 34 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.083617 ms (missed cycles : 7).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753562 ms (missed cycles : 5).[0m ×2 + 1.02sINFOobjective_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 + 1.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Got request to cancel active goal. ×2 + 1.03sINFOros2_control_node[2026-07-30 11:19:55.383] [info] Canceling active goal... ×2 + 1.04sERRORobjective_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: 1785410395.39092255 seconds ×3 + 1.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×4 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 1.62sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×8 + 1.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785410395.97108173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449634 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785410397.19121528 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951945 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785410397.85871673 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785410397.86055899 seconds ×3 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445450 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785410398.45155573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785410398.45195889 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785410399.02702975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217832 ms (missed cycles : 4).[0m ×2 + 5.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785410400.16716838 seconds ×3 + 5.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648004 ms (missed cycles : 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 | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.1s | 1 error · 651 warnings · 1101 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/2026-07-30-11-05-38-601208-155ca926e0da-8977 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 1.32sINFOros2_control_node-1process started with pid [9025] + 1.33sINFOmove_group-9process started with pid [9044] + 1.33sINFOparameter_manager_node-10process started with pid [9045] + 1.33sINFOwaypoint_manager_node-11process started with pid [9046] + 1.33sINFOmove_joint_resampler_node-12process started with pid [9047] + 1.33sINFOmove_end_effector_resampler_node-13process started with pid [9048] + 1.33sINFOobjective_server_node_main-14process started with pid [9049] + 1.33sINFOcomponent_container_mt-15process started with pid [9050] + 1.33sINFOcomponent_container_mt-16process started with pid [9051] + 1.33sINFOexecute_objective_bridge-17process started with pid [9052] + 1.33sINFOui_teleop_bridge-18process started with pid [9053] + 1.33sINFOweb_bridge-19process started with pid [9054] + 1.33sINFOtf2_web_republisher_node-20process started with pid [9127] + 1.33sINFOvideo_server-21process started with pid [9130] + 1.33sINFOweb_bridge_auth_proxy-22process started with pid [9138] + 1.33sINFOweb_video_auth_proxy-23process started with pid [9139] + 1.33sINFOros2-2process started with pid [9026] + 1.33sINFOros2-3process started with pid [9027] + 1.33sINFOros2-4process started with pid [9028] + 1.33sINFOros2-5process started with pid [9029] + 1.33sINFOros2-6process started with pid [9030] + 1.33sINFOros2-7process started with pid [9031] + 1.33sINFOros2-8process started with pid [9032] + 1.39sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 1.39sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 1.39sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 1.39sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 1.39sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 1.39sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.482254 ms (missed cycles : 12).[0m + 1.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 1.47sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 1.48sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 1.51sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 1.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 1.59sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 1.60sINFOvideo_server2026/07/30 11:05:40 INF MediaMTX v1.19.3, linux, amd64 + 1.61sINFOvideo_server2026/07/30 11:05:40 INF configuration loaded from /tmp/moveit-webrtc-_mc8pfdr/mediamtx.yml + 1.61sINFOvideo_server2026/07/30 11:05:40 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) + 1.61sINFOvideo_server2026/07/30 11:05:40 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 1.99sINFOmove_group[2026-07-30 11:05:41.139] [moveit_pro_license] [info] + 1.99sINFOmove_group************************************************* ×6 + 1.99sINFOmove_group* MoveIt Pro License ×3 + 1.99sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 2.30sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 2.34sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 2.34sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 2.34sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 2.34sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 2.35sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 2.35sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 2.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 2.39sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.987920 ms (missed cycles : 6).[0m + 2.46sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 2.46sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 2.49sINFOmove_group ×6 + 2.49sINFOmove_group[92mYou can start planning now![0m ×3 + 2.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 2.58sINFOwaypoint_manager_node[2026-07-30 11:05:41.735] [moveit_pro_license] [info] + 2.58sINFOwaypoint_manager_node************************************************* ×6 + 2.58sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 2.58sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 2.67sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 3.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 3.28sINFOobjective_server_node[2026-07-30 11:05:42.436] [moveit_pro_license] [info] + 3.28sINFOobjective_server_node************************************************* ×6 + 3.28sINFOobjective_server_node* MoveIt Pro License ×3 + 3.28sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 3.38sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 3.38sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 3.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 3.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 3.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 3.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 3.67sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 3.89sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 3.89sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 3.89sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 3.89sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 3.89sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 3.89sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 3.89sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 3.89sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 3.89sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 3.89sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 4.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 4.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 4.04sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mbmo2cpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n4q0_l8f --params-file /tmp/launch_params_30ewc95d [0m + 4.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 4.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 4.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×3 + 4.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 4.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 4.09sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×3 + 4.09sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×77 + 4.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×3 + 4.13sINFOcomponent_container_mt[2026-07-30 11:05:43.282] [moveit_pro_license] [info] + 4.13sINFOcomponent_container_mt************************************************* ×6 + 4.13sINFOcomponent_container_mt* MoveIt Pro License ×3 + 4.13sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 4.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 4.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 4.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 4.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429383 ms (missed cycles : 3).[0m + 4.41sINFOros2-5process has finished cleanly [pid 9029] + 4.42sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 4.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mbmo2cpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n4q0_l8f --params-file /tmp/launch_params_30ewc95d [0m + 4.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 4.51sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 4.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×9 + 4.54sINFOros2_control_node[2026-07-30 11:05:43.695] [info] Controller state will be published at 10 Hz. + 4.54sINFOros2_control_node[2026-07-30 11:05:43.696] [info] VelocityForceController 'on_configure' succeeded. + 4.85sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 4.85sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 4.86sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mbmo2cpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n4q0_l8f --params-file /tmp/launch_params_30ewc95d [0m + 4.87sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×3 + 4.89sINFOros2-7process has finished cleanly [pid 9031] + 4.90sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 4.90sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 4.90sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 4.90sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×3 + 4.90sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×3 + 4.90sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×3 + 4.91sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 4.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 4.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×62 + 4.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 4.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×32 + 4.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×32 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m + 5.20sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 5.20sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 5.20sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mbmo2cpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n4q0_l8f --params-file /tmp/launch_params_30ewc95d [0m + 5.23sINFOros2-4process has finished cleanly [pid 9028] + 5.24sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 5.24sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 5.25sINFOros2_control_nodeconfigure successful[0m ×3 + 5.25sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 5.26sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 5.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×3 + 5.77sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×3 + 5.78sINFOros2-2process has finished cleanly [pid 9026] + 5.83sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_mbmo2cpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n4q0_l8f --params-file /tmp/launch_params_30ewc95d [0m + 5.87sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×3 + 5.88sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×3 + 5.88sINFOros2_control_node[2026-07-30 11:05:45.031] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 5.88sINFOros2_control_node[2026-07-30 11:05:45.031] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 5.90sINFOros2_control_node[2026-07-30 11:05:45.053] [info] First order lag filter time constant set to: 0.2 seconds + 5.90sINFOros2_control_node[2026-07-30 11:05:45.053] [info] Controller state will be published at 50 Hz. + 5.90sINFOros2_control_node[2026-07-30 11:05:45.057] [info] Registered `FollowJointTrajectory` action server. + 6.22sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 6.22sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 6.23sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_mbmo2cpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n4q0_l8f --params-file /tmp/launch_params_30ewc95d [0m + 6.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235611 ms (missed cycles : 2).[0m + 6.26sINFOros2-6process has finished cleanly [pid 9030] + 6.27sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 6.27sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 6.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 6.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×5 + 6.28sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 6.55sWARNobjective_server_nodeNot all Objectives could be registered: ×21 + 6.55sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×21 + 6.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785409545.71071577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 6.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785409545.72102141 seconds + 6.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×7 + 6.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×7 + 6.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×7 + 6.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 6.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 6.61sINFOros2-3process has finished cleanly [pid 9027] + 6.66sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mbmo2cpu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_n4q0_l8f --params-file /tmp/launch_params_30ewc95d [0m + 6.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 6.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 6.73sINFOros2_control_node[2026-07-30 11:05:45.884] [info] Controller state will be published at 20 Hz. + 6.73sINFOros2_control_node[2026-07-30 11:05:45.885] [info] JointVelocityController 'on_configure' succeeded. + 7.06sINFOros2-8process has finished cleanly [pid 9032] + 7.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785409546.37500644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 7.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×10 + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200729 ms (missed cycles : 3).[0m + 8.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785409547.48514843 seconds + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150386 ms (missed cycles : 2).[0m + 8.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785409548.08283401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 9.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785409548.16298866 seconds + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028624 ms (missed cycles : 2).[0m + 9.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785409548.87384057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 9.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785409548.89521289 seconds + 10.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785409549.47087073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483731 ms (missed cycles : 2).[0m + 10.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785409549.62188506 seconds + 11.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785409550.29970813 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m + 11.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 11.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 11.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785409550.33984780 seconds + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.867855 ms (missed cycles : 4).[0m + 11.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785409550.96068192 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller + 11.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m + 11.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m + 11.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m + 11.92sINFOobjective_server_nodeFound path in 0 iterations (1.76e-05 s). + 11.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 11.93sINFOros2_control_node[2026-07-30 11:05:51.086] [info] Received new action goal + 11.93sINFOros2_control_node[2026-07-30 11:05:51.086] [info] Accepted new action goal + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.815448 ms (missed cycles : 7).[0m + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.151949 ms (missed cycles : 6).[0m + 13.91sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m + 14.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 14.42sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). + 14.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 14.44sINFOros2_control_node[2026-07-30 11:05:53.594] [info] Received new action goal + 14.44sINFOros2_control_node[2026-07-30 11:05:53.594] [info] Accepted new action goal + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.401538 ms (missed cycles : 5).[0m + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548156 ms (missed cycles : 5).[0m + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.708579 ms (missed cycles : 5).[0m + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167826 ms (missed cycles : 2).[0m + 18.09sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). + 18.11sINFOros2_control_node[2026-07-30 11:05:57.264] [info] Received new action goal + 18.11sINFOros2_control_node[2026-07-30 11:05:57.264] [info] Accepted new action goal + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.997082 ms (missed cycles : 5).[0m + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752895 ms (missed cycles : 2).[0m + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491095 ms (missed cycles : 3).[0m + 21.41sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). + 21.42sINFOobjective_server_nodePath shortcutter: [X_________________X] + 21.43sINFOros2_control_node[2026-07-30 11:06:00.586] [info] Received new action goal + 21.43sINFOros2_control_node[2026-07-30 11:06:00.587] [info] Accepted new action goal + 22.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×2 + 22.02sINFOros2_control_node[2026-07-30 11:06:01.171] [info] Got request to cancel active goal. + 22.02sINFOros2_control_node[2026-07-30 11:06:01.171] [info] Canceling active goal... + 22.03sERRORobjective_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: 1785409561.18919468 seconds + 22.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 22.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 22.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×12 + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723073 ms (missed cycles : 3).[0m + 22.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785409561.76569080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 22.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785409561.89581895 seconds + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115529 ms (missed cycles : 2).[0m + 23.36sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785409562.52010679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 23.55sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 23.55sINFOobjective_server_nodePath shortcutter: [X______X] + 23.56sINFOros2_control_node[2026-07-30 11:06:02.714] [info] Received new action goal + 23.56sINFOros2_control_node[2026-07-30 11:06:02.714] [info] Accepted new action goal + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.646478 ms (missed cycles : 5).[0m + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499466 ms (missed cycles : 3).[0m + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232114 ms (missed cycles : 2).[0m + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328800 ms (missed cycles : 2).[0m + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510971 ms (missed cycles : 3).[0m + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406237 ms (missed cycles : 5).[0m + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827189 ms (missed cycles : 2).[0m + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.507002 ms (missed cycles : 4).[0m + 32.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181057 ms (missed cycles : 3).[0m + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051864 ms (missed cycles : 4).[0m + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.702185 ms (missed cycles : 7).[0m + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254513 ms (missed cycles : 2).[0m + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719590 ms (missed cycles : 4).[0m + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482536 ms (missed cycles : 2).[0m + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976089 ms (missed cycles : 3).[0m + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217384 ms (missed cycles : 3).[0m + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805620 ms (missed cycles : 2).[0m + 41.64sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 41.65sINFOobjective_server_nodeFound detection with id: 0, label: %s + 41.93sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). + 41.93sINFOobjective_server_nodePath shortcutter: [X________X] + 41.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 41.94sINFOobjective_server_nodePath shortcutter: [X________________X] + 41.95sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). + 41.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903319 ms (missed cycles : 3).[0m + 41.98sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] + 42.01sINFOobjective_server_nodeFound path in 5 iterations (0.00404599 s). + 42.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] + 42.10sINFOros2_control_node[2026-07-30 11:06:21.258] [info] Received new action goal + 42.10sINFOros2_control_node[2026-07-30 11:06:21.258] [info] Accepted new action goal + 42.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750914 ms (missed cycles : 3).[0m + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082248 ms (missed cycles : 3).[0m + 44.32sINFOros2_control_node[2026-07-30 11:06:23.480] [info] Received new action goal + 44.33sINFOros2_control_node[2026-07-30 11:06:23.480] [info] Accepted new action goal + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314408 ms (missed cycles : 4).[0m + 45.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. + 45.97sINFOobjective_server_nodePlanning for 2 path waypoints. + 45.98sINFOros2_control_node[2026-07-30 11:06:25.134] [info] Received new action goal + 45.98sINFOros2_control_node[2026-07-30 11:06:25.134] [info] Accepted new action goal + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263865 ms (missed cycles : 3).[0m + 47.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415327 ms (missed cycles : 2).[0m + 47.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785409586.42097592 seconds + 47.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785409587.04775095 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 47.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785409587.11788177 seconds + 48.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116078 ms (missed cycles : 3).[0m + 48.59sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785409587.74872375 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 48.68sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). + 48.68sINFOobjective_server_nodePath shortcutter: [X_____________X] + 48.70sINFOros2_control_node[2026-07-30 11:06:27.852] [info] Received new action goal + 48.70sINFOros2_control_node[2026-07-30 11:06:27.852] [info] Accepted new action goal + 49.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229369 ms (missed cycles : 2).[0m + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674333 ms (missed cycles : 2).[0m + 51.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401232 ms (missed cycles : 3).[0m + 52.02sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). + 52.04sINFOros2_control_node[2026-07-30 11:06:31.200] [info] Received new action goal + 52.05sINFOros2_control_node[2026-07-30 11:06:31.200] [info] Accepted new action goal + 52.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757878 ms (missed cycles : 4).[0m + 53.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790147 ms (missed cycles : 2).[0m + 54.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391749 ms (missed cycles : 8).[0m + 54.36sINFOros2_control_node[2026-07-30 11:06:33.520] [info] Received new action goal + 54.36sINFOros2_control_node[2026-07-30 11:06:33.520] [info] Accepted new action goal + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929681 ms (missed cycles : 3).[0m + 56.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748754 ms (missed cycles : 2).[0m + 56.69sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). + 56.69sINFOros2_control_node[2026-07-30 11:06:35.850] [info] Received new action goal + 56.69sINFOros2_control_node[2026-07-30 11:06:35.850] [info] Accepted new action goal + 57.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370389 ms (missed cycles : 3).[0m + 58.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462072 ms (missed cycles : 4).[0m + 58.90sINFOros2_control_node[2026-07-30 11:06:38.058] [info] Got request to cancel active goal. + 58.90sINFOros2_control_node[2026-07-30 11:06:38.058] [info] Canceling active goal... + 59.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.572127 ms (missed cycles : 2).[0m + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165812 ms (missed cycles : 3).[0m + 61.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.083611 ms (missed cycles : 9).[0m + 62.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502167 ms (missed cycles : 3).[0m + 63.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059246 ms (missed cycles : 2).[0m + 64.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.250354 ms (missed cycles : 6).[0m + 65.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029577 ms (missed cycles : 2).[0m + 66.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761720 ms (missed cycles : 2).[0m + 68.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815610 ms (missed cycles : 4).[0m + 69.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762397 ms (missed cycles : 2).[0m + 70.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485608 ms (missed cycles : 5).[0m + 71.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745763 ms (missed cycles : 2).[0m + 72.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717693 ms (missed cycles : 3).[0m + 73.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.048182 ms (missed cycles : 6).[0m + 73.92sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m + 74.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397284 ms (missed cycles : 4).[0m + 75.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479134 ms (missed cycles : 5).[0m + 76.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136281 ms (missed cycles : 2).[0m + 77.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863780 ms (missed cycles : 2).[0m + 78.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.504042 ms (missed cycles : 5).[0m + 79.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.888480 ms (missed cycles : 8).[0m + 80.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878264 ms (missed cycles : 2).[0m + 81.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669554 ms (missed cycles : 2).[0m + 82.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856361 ms (missed cycles : 2).[0m + 83.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895917 ms (missed cycles : 3).[0m + 84.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.552406 ms (missed cycles : 5).[0m + 85.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921379 ms (missed cycles : 2).[0m + 86.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483105 ms (missed cycles : 5).[0m + 87.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187782 ms (missed cycles : 2).[0m + 88.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.531853 ms (missed cycles : 7).[0m + 89.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056422 ms (missed cycles : 3).[0m + 90.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.404107 ms (missed cycles : 5).[0m + 91.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815150 ms (missed cycles : 3).[0m + 92.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.117691 ms (missed cycles : 9).[0m + 93.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326121 ms (missed cycles : 4).[0m + 94.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579893 ms (missed cycles : 4).[0m + 95.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795193 ms (missed cycles : 4).[0m + 97.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.795737 ms (missed cycles : 7).[0m + 98.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572684 ms (missed cycles : 3).[0m + 99.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392166 ms (missed cycles : 4).[0m +100.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760494 ms (missed cycles : 4).[0m +101.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753624 ms (missed cycles : 4).[0m +102.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427289 ms (missed cycles : 3).[0m +103.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559999 ms (missed cycles : 4).[0m +104.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266569 ms (missed cycles : 2).[0m +105.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832036 ms (missed cycles : 2).[0m +106.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672227 ms (missed cycles : 4).[0m +107.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746788 ms (missed cycles : 4).[0m +108.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479083 ms (missed cycles : 5).[0m +109.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.060204 ms (missed cycles : 5).[0m +110.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887931 ms (missed cycles : 3).[0m +111.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829852 ms (missed cycles : 3).[0m +112.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848121 ms (missed cycles : 4).[0m +113.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914781 ms (missed cycles : 4).[0m +114.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750137 ms (missed cycles : 5).[0m +115.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624179 ms (missed cycles : 3).[0m +116.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432051 ms (missed cycles : 6).[0m +117.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.523379 ms (missed cycles : 5).[0m +118.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711038 ms (missed cycles : 5).[0m +119.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248756 ms (missed cycles : 3).[0m +120.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955706 ms (missed cycles : 3).[0m +121.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118574 ms (missed cycles : 3).[0m +122.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714361 ms (missed cycles : 3).[0m +123.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.812168 ms (missed cycles : 7).[0m +124.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521823 ms (missed cycles : 3).[0m +125.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837355 ms (missed cycles : 2).[0m +126.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116686 ms (missed cycles : 4).[0m +127.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164665 ms (missed cycles : 3).[0m +129.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.824951 ms (missed cycles : 7).[0m +130.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762313 ms (missed cycles : 2).[0m +131.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.829855 ms (missed cycles : 7).[0m +132.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148033 ms (missed cycles : 2).[0m +133.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568087 ms (missed cycles : 2).[0m +133.92sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×3 +134.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.102630 ms (missed cycles : 6).[0m +135.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779601 ms (missed cycles : 4).[0m +136.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577645 ms (missed cycles : 2).[0m +137.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448003 ms (missed cycles : 2).[0m +138.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737003 ms (missed cycles : 4).[0m +139.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.662151 ms (missed cycles : 5).[0m +140.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735029 ms (missed cycles : 4).[0m +141.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543598 ms (missed cycles : 3).[0m +142.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116639 ms (missed cycles : 3).[0m +143.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993618 ms (missed cycles : 3).[0m +144.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368956 ms (missed cycles : 2).[0m +145.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986354 ms (missed cycles : 2).[0m +146.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087165 ms (missed cycles : 3).[0m +147.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.864608 ms (missed cycles : 6).[0m +148.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042249 ms (missed cycles : 5).[0m +149.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.038204 ms (missed cycles : 4).[0m +150.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503882 ms (missed cycles : 3).[0m +152.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269232 ms (missed cycles : 4).[0m +153.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.204834 ms (missed cycles : 6).[0m +154.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049391 ms (missed cycles : 2).[0m +155.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.893732 ms (missed cycles : 7).[0m +156.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917855 ms (missed cycles : 2).[0m +157.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122581 ms (missed cycles : 3).[0m +158.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.044152 ms (missed cycles : 6).[0m +159.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.852867 ms (missed cycles : 3).[0m +160.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133864 ms (missed cycles : 3).[0m +161.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996859 ms (missed cycles : 3).[0m +162.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.467674 ms (missed cycles : 5).[0m +163.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878708 ms (missed cycles : 2).[0m +164.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.066692 ms (missed cycles : 12).[0m +165.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048752 ms (missed cycles : 2).[0m +166.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412150 ms (missed cycles : 4).[0m +167.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.463493 ms (missed cycles : 8).[0m +168.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048276 ms (missed cycles : 2).[0m +169.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.467586 ms (missed cycles : 4).[0m +170.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.368313 ms (missed cycles : 6).[0m +171.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848931 ms (missed cycles : 4).[0m +172.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.876612 ms (missed cycles : 3).[0m +173.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163525 ms (missed cycles : 3).[0m +174.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.856833 ms (missed cycles : 4).[0m +175.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.271231 ms (missed cycles : 3).[0m +176.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170925 ms (missed cycles : 3).[0m +177.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843651 ms (missed cycles : 4).[0m +179.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541438 ms (missed cycles : 5).[0m +180.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272499 ms (missed cycles : 3).[0m +181.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881737 ms (missed cycles : 3).[0m +182.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064604 ms (missed cycles : 4).[0m +183.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659085 ms (missed cycles : 3).[0m +184.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550147 ms (missed cycles : 5).[0m +185.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.570279 ms (missed cycles : 5).[0m +186.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825531 ms (missed cycles : 4).[0m +187.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856649 ms (missed cycles : 2).[0m +188.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755688 ms (missed cycles : 2).[0m +189.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832788 ms (missed cycles : 2).[0m +190.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146089 ms (missed cycles : 2).[0m +191.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180226 ms (missed cycles : 6).[0m +192.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.982918 ms (missed cycles : 7).[0m +193.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.689758 ms (missed cycles : 6).[0m +193.92sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×5 +194.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.008015 ms (missed cycles : 6).[0m +195.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422514 ms (missed cycles : 3).[0m +196.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911001 ms (missed cycles : 5).[0m +197.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148365 ms (missed cycles : 2).[0m +198.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392575 ms (missed cycles : 3).[0m +199.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427487 ms (missed cycles : 5).[0m +200.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467899 ms (missed cycles : 2).[0m +201.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885135 ms (missed cycles : 2).[0m +202.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.627465 ms (missed cycles : 8).[0m +204.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163956 ms (missed cycles : 4).[0m +205.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.528812 ms (missed cycles : 5).[0m +206.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697357 ms (missed cycles : 5).[0m +207.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025429 ms (missed cycles : 2).[0m +208.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440596 ms (missed cycles : 2).[0m +209.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.756555 ms (missed cycles : 7).[0m +210.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643066 ms (missed cycles : 3).[0m +211.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.405053 ms (missed cycles : 5).[0m +212.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458655 ms (missed cycles : 4).[0m +213.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938547 ms (missed cycles : 2).[0m +214.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580063 ms (missed cycles : 5).[0m +215.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549358 ms (missed cycles : 3).[0m +216.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341756 ms (missed cycles : 2).[0m +217.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787072 ms (missed cycles : 2).[0m +218.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.871640 ms (missed cycles : 4).[0m +219.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781017 ms (missed cycles : 4).[0m +220.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586198 ms (missed cycles : 4).[0m +221.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.869399 ms (missed cycles : 7).[0m +222.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.219125 ms (missed cycles : 6).[0m +223.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848872 ms (missed cycles : 4).[0m +224.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.859456 ms (missed cycles : 5).[0m +225.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.808835 ms (missed cycles : 7).[0m +226.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269050 ms (missed cycles : 2).[0m +227.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240864 ms (missed cycles : 2).[0m +228.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384920 ms (missed cycles : 3).[0m +229.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513777 ms (missed cycles : 2).[0m +230.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488263 ms (missed cycles : 2).[0m +231.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767948 ms (missed cycles : 2).[0m +233.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847936 ms (missed cycles : 4).[0m +234.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655428 ms (missed cycles : 3).[0m +235.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.723625 ms (missed cycles : 5).[0m +236.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.166799 ms (missed cycles : 3).[0m +237.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220625 ms (missed cycles : 4).[0m +238.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554196 ms (missed cycles : 4).[0m +239.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228126 ms (missed cycles : 3).[0m +240.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141216 ms (missed cycles : 4).[0m +241.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929735 ms (missed cycles : 2).[0m +242.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142748 ms (missed cycles : 3).[0m +243.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.698622 ms (missed cycles : 10).[0m +244.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.885986 ms (missed cycles : 7).[0m +245.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.646141 ms (missed cycles : 5).[0m +246.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715840 ms (missed cycles : 2).[0m +247.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.163929 ms (missed cycles : 6).[0m +248.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549067 ms (missed cycles : 5).[0m +249.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444402 ms (missed cycles : 2).[0m +250.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155114 ms (missed cycles : 3).[0m +251.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829600 ms (missed cycles : 2).[0m +252.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.781326 ms (missed cycles : 5).[0m +253.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047615 ms (missed cycles : 3).[0m +254.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299168 ms (missed cycles : 3).[0m +255.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943163 ms (missed cycles : 2).[0m +256.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882595 ms (missed cycles : 3).[0m +257.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903918 ms (missed cycles : 3).[0m +258.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944359 ms (missed cycles : 2).[0m +259.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230606 ms (missed cycles : 4).[0m +260.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474730 ms (missed cycles : 2).[0m +261.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675010 ms (missed cycles : 3).[0m +262.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.544542 ms (missed cycles : 5).[0m +263.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.234155 ms (missed cycles : 6).[0m +264.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.627580 ms (missed cycles : 5).[0m +266.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932350 ms (missed cycles : 7).[0m +267.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702181 ms (missed cycles : 4).[0m +268.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825868 ms (missed cycles : 7).[0m +269.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262123 ms (missed cycles : 3).[0m +270.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.820602 ms (missed cycles : 6).[0m +271.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168971 ms (missed cycles : 5).[0m +272.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946213 ms (missed cycles : 3).[0m +273.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.665392 ms (missed cycles : 5).[0m +274.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212125 ms (missed cycles : 6).[0m +275.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665528 ms (missed cycles : 3).[0m +276.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702691 ms (missed cycles : 2).[0m +277.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852987 ms (missed cycles : 3).[0m +278.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.940264 ms (missed cycles : 4).[0m +279.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.817939 ms (missed cycles : 4).[0m +280.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755630 ms (missed cycles : 3).[0m +281.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360818 ms (missed cycles : 2).[0m +282.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561624 ms (missed cycles : 4).[0m +283.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465860 ms (missed cycles : 3).[0m +284.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626516 ms (missed cycles : 5).[0m +285.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.064450 ms (missed cycles : 4).[0m +286.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258226 ms (missed cycles : 2).[0m +287.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205594 ms (missed cycles : 3).[0m +288.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.769549 ms (missed cycles : 8).[0m +289.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536373 ms (missed cycles : 5).[0m +290.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044574 ms (missed cycles : 3).[0m +291.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632000 ms (missed cycles : 4).[0m +292.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836971 ms (missed cycles : 5).[0m +293.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992954 ms (missed cycles : 4).[0m +295.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116595 ms (missed cycles : 4).[0m +296.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854268 ms (missed cycles : 2).[0m +297.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627984 ms (missed cycles : 2).[0m +298.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978453 ms (missed cycles : 2).[0m +299.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342601 ms (missed cycles : 2).[0m +300.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145286 ms (missed cycles : 3).[0m +301.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653356 ms (missed cycles : 4).[0m +302.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205024 ms (missed cycles : 2).[0m +303.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222634 ms (missed cycles : 3).[0m +304.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703170 ms (missed cycles : 2).[0m +305.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993058 ms (missed cycles : 3).[0m +306.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385628 ms (missed cycles : 2).[0m +307.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563015 ms (missed cycles : 5).[0m +308.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849178 ms (missed cycles : 2).[0m +309.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536091 ms (missed cycles : 2).[0m +310.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546477 ms (missed cycles : 3).[0m +311.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480480 ms (missed cycles : 2).[0m +312.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901687 ms (missed cycles : 2).[0m +313.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160105 ms (missed cycles : 3).[0m +314.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796536 ms (missed cycles : 3).[0m +315.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803623 ms (missed cycles : 3).[0m +316.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685608 ms (missed cycles : 3).[0m +317.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727073 ms (missed cycles : 3).[0m +318.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872582 ms (missed cycles : 3).[0m +319.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822160 ms (missed cycles : 2).[0m +320.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436814 ms (missed cycles : 2).[0m +321.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.225461 ms (missed cycles : 5).[0m +322.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191595 ms (missed cycles : 6).[0m +323.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468142 ms (missed cycles : 2).[0m +325.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224859 ms (missed cycles : 3).[0m +326.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.034565 ms (missed cycles : 7).[0m +327.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351610 ms (missed cycles : 6).[0m +328.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009343 ms (missed cycles : 3).[0m +329.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031758 ms (missed cycles : 3).[0m +330.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080964 ms (missed cycles : 3).[0m +331.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193641 ms (missed cycles : 5).[0m +332.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510934 ms (missed cycles : 5).[0m +333.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778905 ms (missed cycles : 3).[0m +334.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.744485 ms (missed cycles : 8).[0m +335.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998334 ms (missed cycles : 2).[0m +336.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.322450 ms (missed cycles : 6).[0m +337.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779111 ms (missed cycles : 3).[0m +338.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.261549 ms (missed cycles : 6).[0m +339.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910305 ms (missed cycles : 2).[0m +340.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.248212 ms (missed cycles : 6).[0m +341.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.278185 ms (missed cycles : 6).[0m +342.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848751 ms (missed cycles : 4).[0m +343.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.599027 ms (missed cycles : 4).[0m +344.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377917 ms (missed cycles : 3).[0m +345.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033265 ms (missed cycles : 4).[0m +346.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954389 ms (missed cycles : 4).[0m +347.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930639 ms (missed cycles : 3).[0m +348.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050246 ms (missed cycles : 3).[0m +349.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493505 ms (missed cycles : 2).[0m +351.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266646 ms (missed cycles : 3).[0m +352.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591375 ms (missed cycles : 3).[0m +353.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576109 ms (missed cycles : 2).[0m +354.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.777968 ms (missed cycles : 9).[0m +355.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626934 ms (missed cycles : 4).[0m +356.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436200 ms (missed cycles : 4).[0m +357.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227126 ms (missed cycles : 3).[0m +358.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347543 ms (missed cycles : 3).[0m +359.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.989224 ms (missed cycles : 10).[0m +360.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690297 ms (missed cycles : 2).[0m +361.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360181 ms (missed cycles : 2).[0m +362.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.284363 ms (missed cycles : 6).[0m +363.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134220 ms (missed cycles : 3).[0m +364.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.424021 ms (missed cycles : 3).[0m +365.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378922 ms (missed cycles : 2).[0m +366.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677146 ms (missed cycles : 4).[0m +367.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207690 ms (missed cycles : 5).[0m +368.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984148 ms (missed cycles : 4).[0m +369.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378417 ms (missed cycles : 2).[0m +370.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847946 ms (missed cycles : 4).[0m +371.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317799 ms (missed cycles : 2).[0m +372.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.846483 ms (missed cycles : 3).[0m +373.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822268 ms (missed cycles : 2).[0m +374.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850659 ms (missed cycles : 3).[0m +375.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421682 ms (missed cycles : 4).[0m +376.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511572 ms (missed cycles : 4).[0m +377.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.325874 ms (missed cycles : 7).[0m +378.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277812 ms (missed cycles : 3).[0m +379.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.622979 ms (missed cycles : 8).[0m +380.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929007 ms (missed cycles : 2).[0m +381.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877240 ms (missed cycles : 3).[0m +383.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514585 ms (missed cycles : 2).[0m +384.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963290 ms (missed cycles : 2).[0m +385.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.669518 ms (missed cycles : 5).[0m +386.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659157 ms (missed cycles : 6).[0m +387.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.313612 ms (missed cycles : 6).[0m +388.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110758 ms (missed cycles : 4).[0m +389.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058155 ms (missed cycles : 2).[0m +390.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975164 ms (missed cycles : 2).[0m +391.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.193676 ms (missed cycles : 6).[0m +392.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241010 ms (missed cycles : 3).[0m +393.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067256 ms (missed cycles : 3).[0m +394.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917468 ms (missed cycles : 4).[0m +395.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.932466 ms (missed cycles : 7).[0m +396.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.640984 ms (missed cycles : 8).[0m +397.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692814 ms (missed cycles : 5).[0m +398.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296240 ms (missed cycles : 2).[0m +399.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.241232 ms (missed cycles : 6).[0m +400.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659715 ms (missed cycles : 5).[0m +401.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678175 ms (missed cycles : 2).[0m +402.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448163 ms (missed cycles : 2).[0m +403.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550754 ms (missed cycles : 3).[0m +404.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316655 ms (missed cycles : 3).[0m +405.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436646 ms (missed cycles : 2).[0m +407.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.306315 ms (missed cycles : 7).[0m +408.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239571 ms (missed cycles : 2).[0m +409.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300359 ms (missed cycles : 2).[0m +410.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.173409 ms (missed cycles : 6).[0m +411.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.118372 ms (missed cycles : 5).[0m +412.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992423 ms (missed cycles : 2).[0m +413.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.694751 ms (missed cycles : 4).[0m +414.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.028129 ms (missed cycles : 7).[0m +415.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977562 ms (missed cycles : 2).[0m +416.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610953 ms (missed cycles : 2).[0m +417.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784734 ms (missed cycles : 2).[0m +418.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.666476 ms (missed cycles : 5).[0m +419.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817887 ms (missed cycles : 2).[0m +420.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697033 ms (missed cycles : 2).[0m +421.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671983 ms (missed cycles : 2).[0m +422.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402953 ms (missed cycles : 4).[0m +423.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157571 ms (missed cycles : 3).[0m +424.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.177464 ms (missed cycles : 4).[0m +425.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366461 ms (missed cycles : 4).[0m +426.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234846 ms (missed cycles : 4).[0m +427.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628588 ms (missed cycles : 4).[0m +428.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476572 ms (missed cycles : 3).[0m +429.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.318323 ms (missed cycles : 6).[0m +430.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657339 ms (missed cycles : 5).[0m +431.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.504073 ms (missed cycles : 5).[0m +432.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.601897 ms (missed cycles : 8).[0m +433.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.545554 ms (missed cycles : 5).[0m +434.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237417 ms (missed cycles : 2).[0m +436.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.317774 ms (missed cycles : 6).[0m +437.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364262 ms (missed cycles : 2).[0m +438.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.091936 ms (missed cycles : 4).[0m +439.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739883 ms (missed cycles : 2).[0m +440.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.661292 ms (missed cycles : 7).[0m +441.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.737918 ms (missed cycles : 5).[0m +442.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359886 ms (missed cycles : 3).[0m +443.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311555 ms (missed cycles : 4).[0m +444.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155318 ms (missed cycles : 2).[0m +445.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985443 ms (missed cycles : 4).[0m +446.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557998 ms (missed cycles : 2).[0m +447.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932702 ms (missed cycles : 4).[0m +448.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.213919 ms (missed cycles : 3).[0m +449.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295652 ms (missed cycles : 3).[0m +450.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.372983 ms (missed cycles : 6).[0m +451.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.255652 ms (missed cycles : 8).[0m +452.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768027 ms (missed cycles : 5).[0m +453.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814639 ms (missed cycles : 4).[0m +454.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526181 ms (missed cycles : 4).[0m +455.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874565 ms (missed cycles : 2).[0m +456.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231955 ms (missed cycles : 2).[0m +457.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785635 ms (missed cycles : 2).[0m +458.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794129 ms (missed cycles : 3).[0m +459.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.290683 ms (missed cycles : 2).[0m +460.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400731 ms (missed cycles : 4).[0m +461.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281182 ms (missed cycles : 3).[0m +462.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.232416 ms (missed cycles : 5).[0m +463.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850877 ms (missed cycles : 2).[0m +464.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158408 ms (missed cycles : 3).[0m +465.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.572046 ms (missed cycles : 6).[0m +466.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637086 ms (missed cycles : 4).[0m +467.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016414 ms (missed cycles : 4).[0m +469.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638520 ms (missed cycles : 5).[0m +470.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601767 ms (missed cycles : 2).[0m +471.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390139 ms (missed cycles : 4).[0m +472.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171540 ms (missed cycles : 3).[0m +473.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.169857 ms (missed cycles : 7).[0m +474.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.428276 ms (missed cycles : 6).[0m +475.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975135 ms (missed cycles : 2).[0m +476.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765820 ms (missed cycles : 2).[0m +477.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136025 ms (missed cycles : 3).[0m +478.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621935 ms (missed cycles : 5).[0m +479.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788538 ms (missed cycles : 3).[0m +480.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045905 ms (missed cycles : 3).[0m +481.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635417 ms (missed cycles : 3).[0m +482.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.994966 ms (missed cycles : 6).[0m +483.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310066 ms (missed cycles : 2).[0m +484.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764385 ms (missed cycles : 4).[0m +485.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.539390 ms (missed cycles : 4).[0m +486.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873608 ms (missed cycles : 4).[0m +487.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775605 ms (missed cycles : 3).[0m +488.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.201954 ms (missed cycles : 6).[0m +489.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167219 ms (missed cycles : 5).[0m +490.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518036 ms (missed cycles : 3).[0m +491.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.877995 ms (missed cycles : 5).[0m +492.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418512 ms (missed cycles : 3).[0m +493.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338053 ms (missed cycles : 2).[0m +494.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619095 ms (missed cycles : 4).[0m +495.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180279 ms (missed cycles : 3).[0m +496.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678429 ms (missed cycles : 4).[0m +498.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.631880 ms (missed cycles : 5).[0m +499.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354407 ms (missed cycles : 3).[0m +500.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785476 ms (missed cycles : 2).[0m +501.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096735 ms (missed cycles : 3).[0m +502.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.532962 ms (missed cycles : 4).[0m +503.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900547 ms (missed cycles : 4).[0m +504.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.030928 ms (missed cycles : 7).[0m +505.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062089 ms (missed cycles : 4).[0m +506.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709994 ms (missed cycles : 2).[0m +507.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766956 ms (missed cycles : 5).[0m +508.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643388 ms (missed cycles : 5).[0m +509.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071555 ms (missed cycles : 3).[0m +510.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048562 ms (missed cycles : 4).[0m +511.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494270 ms (missed cycles : 2).[0m +512.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900273 ms (missed cycles : 4).[0m +513.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279435 ms (missed cycles : 3).[0m +514.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738954 ms (missed cycles : 2).[0m +515.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773268 ms (missed cycles : 2).[0m +516.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447038 ms (missed cycles : 3).[0m +517.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316941 ms (missed cycles : 5).[0m +518.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784983 ms (missed cycles : 2).[0m +519.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.040287 ms (missed cycles : 7).[0m +521.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.931342 ms (missed cycles : 7).[0m +522.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393152 ms (missed cycles : 3).[0m +523.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.813970 ms (missed cycles : 4).[0m +524.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028695 ms (missed cycles : 2).[0m +525.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571007 ms (missed cycles : 2).[0m +526.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425431 ms (missed cycles : 2).[0m +527.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059627 ms (missed cycles : 3).[0m +528.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.245651 ms (missed cycles : 4).[0m +529.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803858 ms (missed cycles : 2).[0m +530.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856922 ms (missed cycles : 2).[0m +531.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213426 ms (missed cycles : 2).[0m +532.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355124 ms (missed cycles : 3).[0m +533.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722806 ms (missed cycles : 3).[0m +534.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.060909 ms (missed cycles : 7).[0m +535.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131207 ms (missed cycles : 2).[0m +536.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.389073 ms (missed cycles : 6).[0m +537.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502428 ms (missed cycles : 3).[0m +538.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.310727 ms (missed cycles : 5).[0m +539.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259885 ms (missed cycles : 4).[0m +540.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686842 ms (missed cycles : 2).[0m +541.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.345405 ms (missed cycles : 6).[0m +542.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391866 ms (missed cycles : 8).[0m +543.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.036168 ms (missed cycles : 6).[0m +544.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492720 ms (missed cycles : 2).[0m +545.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706268 ms (missed cycles : 5).[0m +546.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534051 ms (missed cycles : 5).[0m +547.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296427 ms (missed cycles : 5).[0m +549.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864471 ms (missed cycles : 2).[0m +550.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992073 ms (missed cycles : 4).[0m +551.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012784 ms (missed cycles : 4).[0m +552.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057471 ms (missed cycles : 2).[0m +553.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380821 ms (missed cycles : 3).[0m +554.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.735629 ms (missed cycles : 5).[0m +555.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829716 ms (missed cycles : 5).[0m +556.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746946 ms (missed cycles : 2).[0m +557.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307094 ms (missed cycles : 2).[0m +558.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173780 ms (missed cycles : 4).[0m +559.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.253614 ms (missed cycles : 8).[0m +560.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469847 ms (missed cycles : 3).[0m +561.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816069 ms (missed cycles : 3).[0m +562.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116917 ms (missed cycles : 4).[0m +563.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.870025 ms (missed cycles : 6).[0m +564.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.741163 ms (missed cycles : 3).[0m +565.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102878 ms (missed cycles : 2).[0m +566.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011832 ms (missed cycles : 3).[0m +567.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272264 ms (missed cycles : 2).[0m +568.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059900 ms (missed cycles : 2).[0m +569.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258161 ms (missed cycles : 2).[0m +570.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567577 ms (missed cycles : 3).[0m +571.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359506 ms (missed cycles : 3).[0m +572.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446279 ms (missed cycles : 4).[0m +573.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566701 ms (missed cycles : 3).[0m +574.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042606 ms (missed cycles : 4).[0m +575.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011050 ms (missed cycles : 4).[0m +576.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250829 ms (missed cycles : 5).[0m +578.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681422 ms (missed cycles : 2).[0m +579.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103879 ms (missed cycles : 4).[0m +580.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806556 ms (missed cycles : 3).[0m +581.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212657 ms (missed cycles : 3).[0m +582.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260485 ms (missed cycles : 5).[0m +583.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725444 ms (missed cycles : 3).[0m +584.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878685 ms (missed cycles : 2).[0m +585.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057585 ms (missed cycles : 4).[0m +586.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.421370 ms (missed cycles : 4).[0m +587.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592282 ms (missed cycles : 3).[0m +588.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.279119 ms (missed cycles : 6).[0m +589.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.702490 ms (missed cycles : 6).[0m +590.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704814 ms (missed cycles : 3).[0m +591.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059984 ms (missed cycles : 2).[0m +592.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956581 ms (missed cycles : 3).[0m +593.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147962 ms (missed cycles : 3).[0m +594.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249942 ms (missed cycles : 5).[0m +595.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671583 ms (missed cycles : 2).[0m +596.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.059463 ms (missed cycles : 4).[0m +597.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853536 ms (missed cycles : 2).[0m +600.29sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-07-30-11-15-38-891329-155ca926e0da-9799 ×2 +601.50sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +601.51sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +601.51sINFOcontroller_managerupdate rate is 600 Hz +601.51sINFOcontroller_managerOverruns handling is : enabled +601.51sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +601.51sWARNcontroller_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. +601.67sINFOros2_control_node-1process started with pid [9847] ×2 +601.67sINFOmove_group-9process started with pid [9866] ×2 +601.67sINFOparameter_manager_node-10process started with pid [9867] ×2 +601.67sINFOwaypoint_manager_node-11process started with pid [9868] ×2 +601.67sINFOmove_joint_resampler_node-12process started with pid [9869] ×2 +601.67sINFOmove_end_effector_resampler_node-13process started with pid [9870] ×2 +601.67sINFOobjective_server_node_main-14process started with pid [9871] ×2 +601.67sINFOcomponent_container_mt-15process started with pid [9872] ×2 +601.67sINFOcomponent_container_mt-16process started with pid [9891] ×2 +601.67sINFOexecute_objective_bridge-17process started with pid [9892] ×2 +601.67sINFOui_teleop_bridge-18process started with pid [9893] ×2 +601.69sINFOweb_bridge-19process started with pid [9894] ×2 +601.70sINFOtf2_web_republisher_node-20process started with pid [9998] ×2 +601.70sINFOvideo_server-21process started with pid [9999] ×2 +601.70sINFOweb_bridge_auth_proxy-22process started with pid [10000] ×2 +601.70sINFOweb_video_auth_proxy-23process started with pid [10001] ×2 +601.70sINFOros2-2process started with pid [9848] ×2 +601.70sINFOros2-3process started with pid [9849] ×2 +601.70sINFOros2-4process started with pid [9850] ×2 +601.70sINFOros2-5process started with pid [9851] ×2 +601.70sINFOros2-6process started with pid [9852] ×2 +601.70sINFOros2-7process started with pid [9853] ×2 +601.70sINFOros2-8process started with pid [9854] ×2 +601.72sINFOcontroller_managerReceived robot description from topic. +601.73sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +601.77sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +601.94sINFOvideo_server2026/07/30 11:15:41 INF MediaMTX v1.19.3, linux, amd64 ×2 +601.94sINFOvideo_server2026/07/30 11:15:41 INF configuration loaded from /tmp/moveit-webrtc-lth6kwpc/mediamtx.yml ×2 +601.94sINFOvideo_server2026/07/30 11:15:41 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 +601.94sINFOvideo_server2026/07/30 11:15:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +601.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.618504 ms (missed cycles : 6). +601.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.618504 ms (missed cycles : 6).[0m ×2 +602.44sINFOmove_group[2026-07-30 11:15:41.598] [moveit_pro_license] [info] ×2 +602.77sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +602.84sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +602.84sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +602.91sINFOwaypoint_manager_node[2026-07-30 11:15:42.067] [moveit_pro_license] [info] ×2 +603.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118531 ms (missed cycles : 7). +603.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118531 ms (missed cycles : 7).[0m ×2 +603.61sINFOobjective_server_node[2026-07-30 11:15:42.767] [moveit_pro_license] [info] ×2 +604.04sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +604.09sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +604.09sINFOcontroller_managerActivating component 'ur_mujoco_control'. +604.09sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +604.09sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +604.24sINFOcomponent_container_mt[2026-07-30 11:15:43.393] [moveit_pro_license] [info] ×2 +604.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +604.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +604.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 +604.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 +604.29sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +604.29sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +604.30sINFOforce_torque_sensor_broadcasterconfigure successful +604.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +604.30sINFOcontroller_managerSuccessfully switched controllers! ×16 +604.31sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +604.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392295 ms (missed cycles : 2). +604.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392295 ms (missed cycles : 2).[0m ×2 +604.60sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +604.60sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +604.60sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 +604.61sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 +604.61sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +604.63sINFOros2-2process has finished cleanly [pid 9848] ×2 +604.65sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +604.65sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +604.65sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +604.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 +604.66sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +604.94sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +604.94sINFOcontroller_managerLoading controller 'joint_velocity_controller' +604.98sINFOros2-3process has finished cleanly [pid 9849] ×2 +605.03sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 +605.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 +605.06sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +605.07sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +605.09sINFOros2_control_node[2026-07-30 11:15:44.248] [info] Controller state will be published at 20 Hz. ×2 +605.09sINFOros2_control_node[2026-07-30 11:15:44.249] [info] JointVelocityController 'on_configure' succeeded. ×2 +605.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] +605.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +605.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 +605.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 +605.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] +605.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 +605.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +605.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +605.41sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 +605.41sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 +605.42sINFOros2-8process has finished cleanly [pid 9854] ×2 +605.47sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +605.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +605.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +605.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +605.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +605.47sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 +605.47sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +605.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +605.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +605.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3). +605.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3).[0m ×2 +605.77sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +605.77sINFOcontroller_managerLoading controller 'velocity_force_controller' +605.79sINFOros2-5process has finished cleanly [pid 9851] ×2 +605.83sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 +605.83sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785410144.99017167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +605.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 +605.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 +605.84sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785410145.00042272 seconds ×3 +605.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 +605.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 +605.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 +605.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 +605.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 +605.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 +605.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +605.88sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +605.91sINFOros2_control_node[2026-07-30 11:15:45.067] [info] Controller state will be published at 10 Hz. ×2 +605.91sINFOros2_control_node[2026-07-30 11:15:45.069] [info] VelocityForceController 'on_configure' succeeded. ×2 +606.24sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +606.24sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +606.25sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 +606.25sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 +606.29sINFOros2-7process has finished cleanly [pid 9853] ×2 +606.30sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +606.30sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +606.30sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +606.30sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. +606.30sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. +606.30sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. +606.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +606.31sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +606.43sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +606.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +606.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). +606.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 +606.62sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' +606.62sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +606.65sINFOros2-4process has finished cleanly [pid 9850] ×2 +606.69sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 +606.69sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 +606.73sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +606.73sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' +606.73sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +606.73sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +606.75sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 +606.75sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 +606.77sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 +607.11sINFOros2-6process has finished cleanly [pid 9852] ×2 +607.54sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 +607.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). +607.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 +608.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +608.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 +608.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). +608.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 +608.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +608.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 +609.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +609.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 +609.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). +609.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 48 warnings · 303 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.05sINFOros2-7process has finished cleanly [pid 9853] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.05sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.05sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.06sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.06sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.06sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×6 + 0.18sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×12 + 0.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.41sINFOros2-4process has finished cleanly [pid 9850] ×2 + 0.44sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.44sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.48sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.49sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.51sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.51sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.52sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.87sINFOros2-6process has finished cleanly [pid 9852] ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 7.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.40sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 7.40sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 54 warnings · 386 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 9854] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 9851] ×2 + 0.43sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×7 + 0.43sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.43sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×14 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785410144.99017167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785410145.00042272 seconds ×3 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.48sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-07-30 11:15:45.067] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-07-30 11:15:45.069] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.89sINFOros2-7process has finished cleanly [pid 9853] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.89sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.89sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.90sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.90sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.90sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.91sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.25sINFOros2-4process has finished cleanly [pid 9850] ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.29sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.32sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.33sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.33sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.35sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.35sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 1.36sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.71sINFOros2-6process has finished cleanly [pid 9852] ×2 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.69sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.1s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 10 warnings · 179 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853536 ms (missed cycles : 2).[0m + 2.49sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-07-30-11-15-38-891329-155ca926e0da-9799 ×2 + 2.49sINFOlaunchDefault logging verbosity is set to INFO ×2 + 3.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 3.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 3.71sINFOcontroller_managerupdate rate is 600 Hz + 3.71sINFOcontroller_managerOverruns handling is : enabled + 3.71sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 3.71sWARNcontroller_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. + 3.87sINFOros2_control_node-1process started with pid [9847] ×2 + 3.87sINFOmove_group-9process started with pid [9866] ×2 + 3.87sINFOparameter_manager_node-10process started with pid [9867] ×2 + 3.87sINFOwaypoint_manager_node-11process started with pid [9868] ×2 + 3.87sINFOmove_joint_resampler_node-12process started with pid [9869] ×2 + 3.87sINFOmove_end_effector_resampler_node-13process started with pid [9870] ×2 + 3.87sINFOobjective_server_node_main-14process started with pid [9871] ×2 + 3.87sINFOcomponent_container_mt-15process started with pid [9872] ×2 + 3.87sINFOcomponent_container_mt-16process started with pid [9891] ×2 + 3.87sINFOexecute_objective_bridge-17process started with pid [9892] ×2 + 3.87sINFOui_teleop_bridge-18process started with pid [9893] ×2 + 3.89sINFOweb_bridge-19process started with pid [9894] ×2 + 3.89sINFOtf2_web_republisher_node-20process started with pid [9998] ×2 + 3.89sINFOvideo_server-21process started with pid [9999] ×2 + 3.89sINFOweb_bridge_auth_proxy-22process started with pid [10000] ×2 + 3.89sINFOweb_video_auth_proxy-23process started with pid [10001] ×2 + 3.90sINFOros2-2process started with pid [9848] ×2 + 3.90sINFOros2-3process started with pid [9849] ×2 + 3.90sINFOros2-4process started with pid [9850] ×2 + 3.90sINFOros2-5process started with pid [9851] ×2 + 3.90sINFOros2-6process started with pid [9852] ×2 + 3.90sINFOros2-7process started with pid [9853] ×2 + 3.90sINFOros2-8process started with pid [9854] ×2 + 3.91sINFOcontroller_managerReceived robot description from topic. + 3.92sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 3.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 3.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 3.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 3.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 3.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 3.93sWARNros2_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 + 3.93sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 3.93sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 3.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 3.97sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 3.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.01sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.14sINFOvideo_server2026/07/30 11:15:41 INF MediaMTX v1.19.3, linux, amd64 ×2 + 4.14sINFOvideo_server2026/07/30 11:15:41 INF configuration loaded from /tmp/moveit-webrtc-lth6kwpc/mediamtx.yml ×2 + 4.14sINFOvideo_server2026/07/30 11:15:41 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 4.14sINFOvideo_server2026/07/30 11:15:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.618504 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.618504 ms (missed cycles : 6).[0m ×2 + 4.64sINFOmove_group[2026-07-30 11:15:41.598] [moveit_pro_license] [info] ×2 + 4.64sINFOmove_group************************************************* ×4 + 4.64sINFOmove_group* MoveIt Pro License ×2 + 4.64sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.97sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 4.97sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.97sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.01sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.04sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 5.04sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 5.04sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 5.04sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 5.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.09sINFOmove_group ×4 + 5.09sINFOmove_group[92mYou can start planning now![0m ×2 + 5.11sINFOwaypoint_manager_node[2026-07-30 11:15:42.067] [moveit_pro_license] [info] ×2 + 5.11sINFOwaypoint_manager_node************************************************* ×4 + 5.11sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 5.11sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.19sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118531 ms (missed cycles : 7). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118531 ms (missed cycles : 7).[0m ×2 + 5.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.81sINFOobjective_server_node[2026-07-30 11:15:42.767] [moveit_pro_license] [info] ×2 + 5.81sINFOobjective_server_node************************************************* ×4 + 5.81sINFOobjective_server_node* MoveIt Pro License ×2 + 5.81sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.90sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 5.90sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.92sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.92sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.92sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.92sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.92sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.92sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.92sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.92sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 48 warnings · 439 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 + 0.03sINFOros2-3process has finished cleanly [pid 9849] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.15sINFOros2_control_node[2026-07-30 11:15:44.248] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-07-30 11:15:44.249] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.48sINFOros2-8process has finished cleanly [pid 9854] ×2 + 0.52sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.52sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.52sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.52sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.53sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.53sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 9851] ×2 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×7 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×14 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785410144.99017167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785410145.00042272 seconds ×3 + 0.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-07-30 11:15:45.067] [info] Controller state will be published at 10 Hz. ×2 + 0.97sINFOros2_control_node[2026-07-30 11:15:45.069] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.30sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.30sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.31sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.31sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.35sINFOros2-7process has finished cleanly [pid 9853] ×2 + 1.35sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.35sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.37sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.71sINFOros2-4process has finished cleanly [pid 9850] ×2 + 1.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.78sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.78sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.79sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.81sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.81sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 1.82sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.17sINFOros2-6process has finished cleanly [pid 9852] ×2 + 2.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_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 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.15sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 48 warnings · 439 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 + 0.03sINFOros2-3process has finished cleanly [pid 9849] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.15sINFOros2_control_node[2026-07-30 11:15:44.248] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-07-30 11:15:44.249] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.48sINFOros2-8process has finished cleanly [pid 9854] ×2 + 0.52sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.52sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.52sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.52sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.53sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.53sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 9851] ×2 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×7 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×14 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785410144.99017167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785410145.00042272 seconds ×3 + 0.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-07-30 11:15:45.067] [info] Controller state will be published at 10 Hz. ×2 + 0.97sINFOros2_control_node[2026-07-30 11:15:45.069] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.30sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.30sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.31sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.31sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.35sINFOros2-7process has finished cleanly [pid 9853] ×2 + 1.35sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.35sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.37sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.71sINFOros2-4process has finished cleanly [pid 9850] ×2 + 1.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.78sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.78sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.79sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.81sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.81sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 1.82sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.17sINFOros2-6process has finished cleanly [pid 9852] ×2 + 2.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_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 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.15sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 48 warnings · 439 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 + 0.03sINFOros2-3process has finished cleanly [pid 9849] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.12sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.12sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.15sINFOros2_control_node[2026-07-30 11:15:44.248] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-07-30 11:15:44.249] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.46sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.48sINFOros2-8process has finished cleanly [pid 9854] ×2 + 0.52sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.52sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.52sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.52sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.53sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.53sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.54sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3).[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 9851] ×2 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×7 + 0.89sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.89sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×14 + 0.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785410144.99017167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785410145.00042272 seconds ×3 + 0.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.94sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.94sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.94sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-07-30 11:15:45.067] [info] Controller state will be published at 10 Hz. ×2 + 0.97sINFOros2_control_node[2026-07-30 11:15:45.069] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.30sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.30sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.31sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.31sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.35sINFOros2-7process has finished cleanly [pid 9853] ×2 + 1.35sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.35sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.35sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.35sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.35sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.36sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.37sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.71sINFOros2-4process has finished cleanly [pid 9850] ×2 + 1.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.78sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.78sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.79sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.79sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.81sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.81sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 1.82sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.17sINFOros2-6process has finished cleanly [pid 9852] ×2 + 2.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.05sINFOobjective_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 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.13sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.15sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 51 warnings · 386 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 9854] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.08sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121529 ms (missed cycles : 3).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 9851] ×2 + 0.43sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×7 + 0.43sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.43sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×14 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785410144.99017167 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785410145.00042272 seconds ×3 + 0.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.48sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.48sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-07-30 11:15:45.067] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-07-30 11:15:45.069] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.89sINFOros2-7process has finished cleanly [pid 9853] ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.89sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.89sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.90sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.90sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.90sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.91sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.22sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.25sINFOros2-4process has finished cleanly [pid 9850] ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 1.29sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 1.32sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.32sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.33sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.33sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.35sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.35sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 1.36sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.71sINFOros2-6process has finished cleanly [pid 9852] ×2 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_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 + 5.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.69sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 warnings · 289 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.05sINFOros2-7process has finished cleanly [pid 9853] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.05sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.05sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.06sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.06sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.06sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.18sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×6 + 0.18sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.18sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×12 + 0.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785410145.58511066 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.576123 ms (missed cycles : 8).[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.41sINFOros2-4process has finished cleanly [pid 9850] ×2 + 0.44sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 + 0.44sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_bo73rkfu --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_uq_yl5a7 --params-file /tmp/launch_params_6vbdtgw8 [0m ×2 + 0.48sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.49sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.49sINFOros2_control_node[2026-07-30 11:15:45.885] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.51sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.51sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.52sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.87sINFOros2-6process has finished cleanly [pid 9852] ×2 + 1.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_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 + 4.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.85sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 36 warnings · 245 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729326 ms (missed cycles : 5). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.729326 ms (missed cycles : 5).[0m ×2 + 7.36sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 33 warnings · 243 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.00sINFOros2_control_node[2026-07-30 11:15:45.909] [info] Controller state will be published at 50 Hz. ×2 + 0.01sINFOros2_control_node[2026-07-30 11:15:45.918] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.36sINFOros2-6process has finished cleanly [pid 9852] ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785410146.69784975 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827157 ms (missed cycles : 2).[0m ×2 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×5 + 1.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 1.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/lab_sim/objectives/select_region_and_cover.xml`: Error at line 8: -> Node not recognized: GetRegionFromUser ×10 + 1.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785410147.29375601 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785410147.35392237 seconds ×3 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.263777 ms (missed cycles : 4).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785410147.99762797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785410148.01778364 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785410148.59808731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785410148.74862218 seconds ×3 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.230001 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785410149.45949507 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785410149.51963019 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873853 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785410150.11477089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_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 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (1.9881e-05 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-07-30 11:15:50.250] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711116 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212034 ms (missed cycles : 4).[0m ×2 + 6.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.795] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-07-30 11:15:52.796] [info] Accepted new action goal ×2 | ||||