117
Total objective tests
34
Objectives passed
0
Objectives failed
83
Objectives skipped
8.1s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.1s | 159 warnings · 303 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:39:13.809] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5).[0m ×2 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.372975396 [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 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.373013728 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-07-30 11:39:14.503] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914160311 [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 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914195273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.18sINFOobjective_server_node[2026-07-30 11:39:14.993] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.22sINFOobjective_server_node[0;93m2026-07-30 11:39:15.033632543 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035597626 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035615476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.24sINFOobjective_server_node[2026-07-30 11:39:15.049] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_server_node[0;93m2026-07-30 11:39:15.360541804 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381678823 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381715495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785411556.83351374 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4).[0m ×2 + 3.64sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.64sINFOobjective_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 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785411557.52026653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.80sINFOobjective_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 + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.288652 ms (missed cycles : 8). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.288652 ms (missed cycles : 8).[0m ×2 + 6.99sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 7.01sINFOros2_control_node[2026-07-30 11:39:20.814] [info] Received new action goal ×2 + 7.01sINFOros2_control_node[2026-07-30 11:39:20.814] [info] Accepted new action goal ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362484 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362484 ms (missed cycles : 3).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065518 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065518 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.795353 ms (missed cycles : 7). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.795353 ms (missed cycles : 7).[0m ×2 + 10.22sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.23sINFOros2_control_node[2026-07-30 11:39:24.044] [info] Received new action goal ×2 + 10.23sINFOros2_control_node[2026-07-30 11:39:24.044] [info] Accepted new action goal ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739549 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739549 ms (missed cycles : 2).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099932 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099932 ms (missed cycles : 2).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090665 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090665 ms (missed cycles : 2).[0m ×2 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 13.21sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.25sINFOros2_control_node[2026-07-30 11:39:27.056] [info] Received new action goal ×2 + 13.25sINFOros2_control_node[2026-07-30 11:39:27.056] [info] Accepted new action goal ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037065 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037065 ms (missed cycles : 2).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331085 ms (missed cycles : 5). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.331085 ms (missed cycles : 5).[0m ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575747 ms (missed cycles : 2). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.575747 ms (missed cycles : 2).[0m ×2 + 16.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.20sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.20sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.21sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.21sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.006030 ms (missed cycles : 6). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.006030 ms (missed cycles : 6).[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278806 ms (missed cycles : 2). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278806 ms (missed cycles : 2).[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172359 ms (missed cycles : 2). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172359 ms (missed cycles : 2).[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421177 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421177 ms (missed cycles : 2).[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729236 ms (missed cycles : 4). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729236 ms (missed cycles : 4).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662062 ms (missed cycles : 3). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662062 ms (missed cycles : 3).[0m ×2 + 22.99sINFOobjective_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 + 22.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.99sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.99sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.99sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.99sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514832 ms (missed cycles : 4). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514832 ms (missed cycles : 4).[0m ×2 + 23.94sINFOros2_control_node[2026-07-30 11:39:37.745] [info] Received new action goal ×2 + 23.94sINFOros2_control_node[2026-07-30 11:39:37.745] [info] Accepted new action goal ×2 + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670767 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670767 ms (missed cycles : 3).[0m ×2 + 25.10sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.11sINFOobjective_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 + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644533 ms (missed cycles : 2). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644533 ms (missed cycles : 2).[0m ×2 + 25.39sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 25.39sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.43sINFOros2_control_node[2026-07-30 11:39:39.237] [info] Received new action goal ×2 + 25.43sINFOros2_control_node[2026-07-30 11:39:39.237] [info] Accepted new action goal ×2 + 26.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804772 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804772 ms (missed cycles : 3).[0m ×2 + 27.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561149 ms (missed cycles : 3). + 27.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561149 ms (missed cycles : 3).[0m ×2 + 27.54sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.55sINFOros2_control_node[2026-07-30 11:39:41.354] [info] Received new action goal ×2 + 27.55sINFOros2_control_node[2026-07-30 11:39:41.354] [info] Accepted new action goal ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703724 ms (missed cycles : 4). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703724 ms (missed cycles : 4).[0m ×2 + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881767 ms (missed cycles : 2). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881767 ms (missed cycles : 2).[0m ×2 + 30.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410536 ms (missed cycles : 3). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410536 ms (missed cycles : 3).[0m ×2 + 30.64sINFOros2_control_node[2026-07-30 11:39:44.444] [info] Received new action goal ×2 + 30.64sINFOros2_control_node[2026-07-30 11:39:44.444] [info] Accepted new action goal ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527476 ms (missed cycles : 4). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527476 ms (missed cycles : 4).[0m ×2 + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603249 ms (missed cycles : 4). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603249 ms (missed cycles : 4).[0m ×2 + 33.15sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 33.15sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.19sINFOros2_control_node[2026-07-30 11:39:46.996] [info] Received new action goal ×2 + 33.19sINFOros2_control_node[2026-07-30 11:39:46.996] [info] Accepted new action goal ×2 + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995280 ms (missed cycles : 3). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995280 ms (missed cycles : 3).[0m ×2 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212196 ms (missed cycles : 4). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212196 ms (missed cycles : 4).[0m ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149949 ms (missed cycles : 2). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149949 ms (missed cycles : 2).[0m ×2 + 36.34sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 36.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365695 ms (missed cycles : 2). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365695 ms (missed cycles : 2).[0m ×2 + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987467 ms (missed cycles : 3). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987467 ms (missed cycles : 3).[0m ×2 + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667539 ms (missed cycles : 3). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667539 ms (missed cycles : 3).[0m ×2 + 39.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286452 ms (missed cycles : 4). + 39.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286452 ms (missed cycles : 4).[0m ×2 + 40.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.267014 ms (missed cycles : 8). + 40.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.267014 ms (missed cycles : 8).[0m ×2 + 41.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717137 ms (missed cycles : 5). + 41.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717137 ms (missed cycles : 5).[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023825 ms (missed cycles : 5). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023825 ms (missed cycles : 5).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831946 ms (missed cycles : 4). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831946 ms (missed cycles : 4).[0m ×2 + 43.92sINFOros2_control_node[2026-07-30 11:39:57.733] [info] Received new action goal ×2 + 43.92sINFOros2_control_node[2026-07-30 11:39:57.734] [info] Accepted new action goal ×2 + 44.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832325 ms (missed cycles : 2). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832325 ms (missed cycles : 2).[0m ×2 + 45.08sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785411598.89053369 seconds ×3 + 45.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054515 ms (missed cycles : 2). + 45.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054515 ms (missed cycles : 2).[0m ×2 + 45.88sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785411599.68751740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979920 ms (missed cycles : 6). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979920 ms (missed cycles : 6).[0m ×2 + 47.10sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 47.11sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.12sINFOros2_control_node[2026-07-30 11:40:00.931] [info] Received new action goal ×2 + 47.12sINFOros2_control_node[2026-07-30 11:40:00.931] [info] Accepted new action goal ×2 + 47.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554579 ms (missed cycles : 2). + 47.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554579 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 30.8s | 3 errors · 123 warnings · 259 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875297 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875297 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612646 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612646 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433622 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433622 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666902 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666902 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.36sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785411628.70835567 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.01sWARNobjective_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 + 4.01sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.01sINFOobjective_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 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501416 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501416 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785411629.44826174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOobjective_server_nodeFound path in 5 iterations (0.0043048 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.36sINFOros2_control_node[2026-07-30 11:40:29.712] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-07-30 11:40:29.712] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918464 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918464 ms (missed cycles : 3).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761236 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761236 ms (missed cycles : 3).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033351 ms (missed cycles : 4). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033351 ms (missed cycles : 4).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121371 ms (missed cycles : 5). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121371 ms (missed cycles : 5).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325068 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325068 ms (missed cycles : 2).[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882119 ms (missed cycles : 2). + 10.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882119 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363320 ms (missed cycles : 5). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.363320 ms (missed cycles : 5).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380742 ms (missed cycles : 3). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380742 ms (missed cycles : 3).[0m ×2 + 12.82sINFOobjective_server_node[2026-07-30 11:40:38.171] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.35sINFOobjective_server_node[0;m[0;93m2026-07-30 11:40:38.702791298 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.35sINFOobjective_server_node[0;93m2026-07-30 11:40:38.702822339 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521365 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521365 ms (missed cycles : 3).[0m ×2 + 13.45sINFOobjective_server_node[2026-07-30 11:40:38.795] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.85sINFOobjective_server_node[0;93m2026-07-30 11:40:39.193272707 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.85sINFOobjective_server_node[0;93m2026-07-30 11:40:39.193329240 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.91sINFOobjective_server_node[2026-07-30 11:40:39.261] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.95sINFOobjective_server_node[0;93m2026-07-30 11:40:39.298621908 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.95sINFOobjective_server_node[0;93m2026-07-30 11:40:39.301117081 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.95sINFOobjective_server_node[0;93m2026-07-30 11:40:39.301140462 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.96sINFOobjective_server_node[2026-07-30 11:40:39.311] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 14.25sINFOobjective_server_node[0;93m2026-07-30 11:40:39.599181210 [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 + 14.28sINFOobjective_server_node[0;93m2026-07-30 11:40:39.622564125 [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 + 14.28sINFOobjective_server_node[0;93m2026-07-30 11:40:39.622620178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561234 ms (missed cycles : 2). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561234 ms (missed cycles : 2).[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084644 ms (missed cycles : 3). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084644 ms (missed cycles : 3).[0m ×2 + 16.26sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384532 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384532 ms (missed cycles : 2).[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337420 ms (missed cycles : 5). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.337420 ms (missed cycles : 5).[0m ×2 + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434578 ms (missed cycles : 3). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434578 ms (missed cycles : 3).[0m ×2 + 19.37sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.194634 ms (missed cycles : 4). + 19.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.194634 ms (missed cycles : 4).[0m ×2 + 19.70sINFOobjective_server_nodeFound path in 4 iterations (0.00268269 s). ×2 + 19.75sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.78sINFOobjective_server_nodeFound path in 12 iterations (0.00418182 s). ×2 + 19.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.85sINFOobjective_server_nodeFound path in 1 iterations (0.00221328 s). ×2 + 19.89sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 19.91sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 19.94sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.95sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 19.98sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 20.00sINFOobjective_server_nodeFound path in 12 iterations (0.00499833 s). ×2 + 20.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 20.06sINFOobjective_server_nodeFound path in 1 iterations (0.00278659 s). ×2 + 20.09sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 20.11sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×4 + 20.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.15sINFOobjective_server_nodeFound path in 4 iterations (0.00318422 s). ×2 + 20.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 20.23sINFOobjective_server_nodeFound path in 4 iterations (0.00204998 s). ×2 + 20.29sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 20.31sINFOobjective_server_nodeFound path in 1 iterations (0.00342982 s). ×2 + 20.36sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 20.38sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 20.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 20.45sINFOobjective_server_nodeFound path in 1 iterations (0.00196182 s). ×2 + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016803 ms (missed cycles : 2). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016803 ms (missed cycles : 2).[0m ×2 + 20.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] ×2 + 20.58sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X] ×2 + 20.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 20.73sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 20.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.92sINFOros2_control_node[2026-07-30 11:40:46.261] [info] Received new action goal ×2 + 20.92sINFOros2_control_node[2026-07-30 11:40:46.261] [info] Accepted new action goal ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974756 ms (missed cycles : 3). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974756 ms (missed cycles : 3).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935156 ms (missed cycles : 6). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935156 ms (missed cycles : 6).[0m ×2 + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727556 ms (missed cycles : 3). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727556 ms (missed cycles : 3).[0m ×2 + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132445 ms (missed cycles : 4). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.132445 ms (missed cycles : 4).[0m ×2 + 24.80sINFOros2_control_nodeMuJoCo sim: 0.55% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.879739 ms (missed cycles : 7). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.879739 ms (missed cycles : 7).[0m ×2 + 25.92sINFOros2_control_node[2026-07-30 11:40:51.264] [info] Received new action goal ×2 + 25.92sINFOros2_control_node[2026-07-30 11:40:51.264] [info] Accepted new action goal ×2 + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886525 ms (missed cycles : 3). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886525 ms (missed cycles : 3).[0m ×2 + 27.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 27.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.51sINFOros2_control_node[2026-07-30 11:40:52.862] [info] Received new action goal ×2 + 27.52sINFOros2_control_node[2026-07-30 11:40:52.862] [info] Accepted new action goal ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228508 ms (missed cycles : 7). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.228508 ms (missed cycles : 7).[0m ×2 + 28.72sWARNobjective_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 + 28.72sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.76sINFOros2_control_node[2026-07-30 11:40:54.104] [info] Received new action goal ×2 + 28.76sINFOros2_control_node[2026-07-30 11:40:54.104] [info] Accepted new action goal ×2 + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063350 ms (missed cycles : 2). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063350 ms (missed cycles : 2).[0m ×2 + 29.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250964 ms (missed cycles : 4). + 29.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250964 ms (missed cycles : 4).[0m ×2 + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704320 ms (missed cycles : 2). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704320 ms (missed cycles : 2).[0m ×2 + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112133 ms (missed cycles : 2). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112133 ms (missed cycles : 2).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812003 ms (missed cycles : 2). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812003 ms (missed cycles : 2).[0m ×2 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889640 ms (missed cycles : 2). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889640 ms (missed cycles : 2).[0m ×2 + 34.20sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785411659.55146194 seconds ×3 + 34.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 34.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 34.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 34.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014575 ms (missed cycles : 5). + 34.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014575 ms (missed cycles : 5).[0m ×2 + 34.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785411660.26098275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.08sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 35.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 35.09sINFOros2_control_node[2026-07-30 11:41:00.434] [info] Received new action goal ×2 + 35.09sINFOros2_control_node[2026-07-30 11:41:00.434] [info] Accepted new action goal ×2 + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177795 ms (missed cycles : 5). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177795 ms (missed cycles : 5).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888306 ms (missed cycles : 3). + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888306 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 24.0s | 3 errors · 108 warnings · 215 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Accepted new action goal ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1785411477.22364974 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_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 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.10sINFOobjective_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 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785411477.81194043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785411477.91208172 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785411478.53196239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660816 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660816 ms (missed cycles : 3).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717016 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717016 ms (missed cycles : 2).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854809 ms (missed cycles : 3). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854809 ms (missed cycles : 3).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066865 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066865 ms (missed cycles : 2).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932157 ms (missed cycles : 3). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932157 ms (missed cycles : 3).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108794 ms (missed cycles : 2). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108794 ms (missed cycles : 2).[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256741 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256741 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763013 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763013 ms (missed cycles : 2).[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050970 ms (missed cycles : 2). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050970 ms (missed cycles : 2).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.490739 ms (missed cycles : 7). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.490739 ms (missed cycles : 7).[0m ×2 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787040 ms (missed cycles : 2). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787040 ms (missed cycles : 2).[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730109 ms (missed cycles : 3). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730109 ms (missed cycles : 3).[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853561 ms (missed cycles : 3). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853561 ms (missed cycles : 3).[0m ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808289 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808289 ms (missed cycles : 3).[0m ×2 + 21.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 21.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 21.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524058 ms (missed cycles : 5). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524058 ms (missed cycles : 5).[0m ×2 + 21.90sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 21.90sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 21.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 21.91sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 21.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 21.98sINFOobjective_server_nodeFound path in 5 iterations (0.00331108 s). ×2 + 22.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 22.09sINFOros2_control_node[2026-07-30 11:38:16.794] [info] Received new action goal ×2 + 22.09sINFOros2_control_node[2026-07-30 11:38:16.794] [info] Accepted new action goal ×2 + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537289 ms (missed cycles : 4). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537289 ms (missed cycles : 4).[0m ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794053 ms (missed cycles : 3). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794053 ms (missed cycles : 3).[0m ×2 + 24.31sINFOros2_control_node[2026-07-30 11:38:19.016] [info] Received new action goal ×2 + 24.31sINFOros2_control_node[2026-07-30 11:38:19.016] [info] Accepted new action goal ×2 + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3).[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3).[0m ×2 + 25.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 25.95sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 25.98sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Received new action goal ×2 + 25.98sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Accepted new action goal ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2).[0m ×2 + 27.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785411501.97213173 seconds ×3 + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4).[0m ×2 + 27.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785411502.59509158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 27.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785411502.67521858 seconds ×3 + 28.61sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785411503.32035422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 28.70sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 28.70sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 28.72sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Received new action goal ×2 + 28.72sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Accepted new action goal ×2 + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3).[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2).[0m ×2 + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 12.3s | 24 errors · 72 warnings · 263 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×24 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5).[0m ×2 + 1.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411614.08210039 seconds ×3 + 1.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777255 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777255 ms (missed cycles : 2).[0m ×2 + 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 ×3 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 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 ×6 + 1.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785411614.70464087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.79sINFOros2_control_node[2026-07-30 11:40:14.838] [info] Received new action goal ×2 + 1.79sINFOros2_control_node[2026-07-30 11:40:14.838] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482386 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482386 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 3.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937519 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937519 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411616.40800500 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785411617.04935002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.16sINFOros2_control_node[2026-07-30 11:40:17.203] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-07-30 11:40:17.203] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160775 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160775 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685881 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685881 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557408 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557408 ms (missed cycles : 5).[0m ×2 + 6.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 6.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 6.83sINFOros2_control_node[2026-07-30 11:40:19.877] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-07-30 11:40:19.877] [info] Accepted new action goal ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367070 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367070 ms (missed cycles : 5).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940175 ms (missed cycles : 3). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940175 ms (missed cycles : 3).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558538 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558538 ms (missed cycles : 3).[0m ×2 + 9.98sINFOros2_control_node[2026-07-30 11:40:23.022] [info] Received new action goal ×2 + 9.98sINFOros2_control_node[2026-07-30 11:40:23.022] [info] Accepted new action goal ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324019 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324019 ms (missed cycles : 2).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858912 ms (missed cycles : 3). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858912 ms (missed cycles : 3).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875297 ms (missed cycles : 3). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875297 ms (missed cycles : 3).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612646 ms (missed cycles : 4). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612646 ms (missed cycles : 4).[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433622 ms (missed cycles : 3). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433622 ms (missed cycles : 3).[0m ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666902 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666902 ms (missed cycles : 2).[0m ×2 + 15.66sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785411628.70835567 seconds ×3 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501416 ms (missed cycles : 3). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501416 ms (missed cycles : 3).[0m ×2 + 16.40sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785411629.44826174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 16.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 16.61sINFOobjective_server_nodeFound path in 5 iterations (0.0043048 s). ×2 + 16.65sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 16.67sINFOros2_control_node[2026-07-30 11:40:29.712] [info] Received new action goal ×2 + 16.67sINFOros2_control_node[2026-07-30 11:40:29.712] [info] Accepted new action goal ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918464 ms (missed cycles : 3). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918464 ms (missed cycles : 3).[0m ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761236 ms (missed cycles : 3). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761236 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 66 warnings · 185 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.026506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.026506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669402 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669402 ms (missed cycles : 4).[0m ×2 + 1.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.16sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.16sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 1.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.21sINFOobjective_server_nodeFound path in 5 iterations (0.00432331 s). ×2 + 1.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.31sINFOros2_control_node[2026-07-30 11:38:53.839] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-07-30 11:38:53.839] [info] Accepted new action goal ×2 + 1.71sINFOros2_control_node[2026-07-30 11:38:54.241] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-07-30 11:38:54.241] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783366 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783366 ms (missed cycles : 3).[0m ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526287 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526287 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.29sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.30sERRORobjective_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: 1785411535.82912350 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sWARNobjective_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 + 4.03sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.03sINFOobjective_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 + 4.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785411536.62405992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995956 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995956 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-07-30 11:38:56.797] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 11:38:56.797] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251332 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251332 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537878 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537878 ms (missed cycles : 4).[0m ×2 + 6.65sINFOros2_control_node[2026-07-30 11:38:59.181] [info] Received new action goal ×2 + 6.65sINFOros2_control_node[2026-07-30 11:38:59.181] [info] Accepted new action goal ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920887 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920887 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.861815 ms (missed cycles : 9). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.861815 ms (missed cycles : 9).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079563 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079563 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654668 ms (missed cycles : 4). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654668 ms (missed cycles : 4).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143921 ms (missed cycles : 5). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143921 ms (missed cycles : 5).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646439 ms (missed cycles : 4). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646439 ms (missed cycles : 4).[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492643 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492643 ms (missed cycles : 3).[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968337 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968337 ms (missed cycles : 2).[0m ×2 + 15.22sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785411547.74459720 seconds ×3 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505063 ms (missed cycles : 5). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505063 ms (missed cycles : 5).[0m ×2 + 15.89sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785411548.41611242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785411548.51624966 seconds ×3 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5).[0m ×2 + 16.76sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785411549.29339170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.88sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 16.89sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.90sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Received new action goal ×2 + 16.90sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Accepted new action goal ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.7s | 71 errors · 50 warnings · 387 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.00sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Got request to cancel active goal. ×2 + 0.00sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785411715.21616626 seconds ×3 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6).[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.60sWARNobjective_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 + 0.60sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 0.61sINFOobjective_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 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785411715.81591964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785411716.97605467 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785411717.56719494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.36sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.36sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785411717.56882691 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785411718.30762506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785411718.30805302 seconds ×3 + 3.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785411718.89769554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785411720.05779433 seconds ×3 + 4.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791404 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791404 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956589 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956589 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216788 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216788 ms (missed cycles : 4).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933912 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933912 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315638 ms (missed cycles : 5). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315638 ms (missed cycles : 5).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136445 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136445 ms (missed cycles : 3).[0m ×2 + 10.84sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.85sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.87sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORweb_video_auth_proxy-23process has died [pid 9159, 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 + 10.87sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.89sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORweb_bridge_auth_proxy-22process has died [pid 9158, 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 + 10.89sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.90sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.92sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.93sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.94sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.94sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.95sINFOvideo_server-21process has finished cleanly [pid 9157] ×2 + 10.95sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.97sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.98sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.00sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.01sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.02sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.03sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.03sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.04sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.04sINFOcontroller_managerShutdown request received.... + 11.04sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.04sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.04sINFOvideo_server2026/07/30 11:42:06 INF shutting down gracefully ×2 + 11.04sINFOvideo_server2026/07/30 11:42:06 INF [WebRTC] closing ×2 + 11.04sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.04sINFOvideo_server2026/07/30 11:42:06 INF [RTSP] closing ×2 + 11.04sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.04sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.04sINFOvideo_server2026/07/30 11:42:06 INF waiting for running hooks ×2 + 11.04sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.04sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.04sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.04sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.04sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.04sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.04sINFOcontroller_managerShutting down the controller manager. + 11.04sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.05sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.05sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 340, in main ×2 + 11.05sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.05sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.05sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.05sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.05sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.05sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.05sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.05sERRORmove_groupStack trace (most recent call last) in thread 9471: ×2 + 11.05sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.05sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.05sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.05sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb08195a63, in __clone ×2 + 11.05sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb08108aa3, in ×2 + 11.05sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb0839adb3, in ×2 + 11.05sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fcb08added7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.05sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcb0870d4d0, in rclcpp::Rate::sleep() ×2 + 11.05sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcb08660a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.05sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcb08625a71, in ×2 + 11.05sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb08369390, in __cxa_throw ×2 + 11.05sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb08353a54, in std::terminate() ×2 + 11.05sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb083690d9, in ×2 + 11.05sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcb08353ff4, in ×2 + 11.05sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb080948fe, in abort ×2 + 11.05sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb080b127d, in raise ×2 + 11.05sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcb0810ab2c, in pthread_kill ×2 + 11.05sERRORmove_groupAborted (Signal sent by tkill() 9068 0) ×2 + 11.05sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.05sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.05sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.05sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.06sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.06sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.06sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.06sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.06sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.06sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.06sERRORmove_group-9process has died [pid 9068, 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_de2xtr48 --params-file /tmp/launch_params_tm3q9nqe --params-file /tmp/launch_params_77k1bz1t --params-file /tmp/launch_params_40dvhxm6 --params-file /tmp/launch_params_t98t3lfz --params-file /tmp/launch_params__ugby4n_']. ×2 + 11.12sINFOobjective_server_node[0;m[2026-07-30 11:42:06.322] [moveit_pro_license] [info] ×2 + 11.12sINFOobjective_server_node************************************************* ×4 + 11.12sINFOobjective_server_node* MoveIt Pro License ×2 + 11.12sINFOobjective_server_node* Application has successfully terminated ×2 + 11.17sINFOobjective_server_nodecorrupted double-linked list ×2 + 11.17sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.18sINFOobjective_server_node#20 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.18sINFOobjective_server_node#19 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5628a168a6a4, in _start ×2 + 11.18sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f909473128a, in __libc_start_main ×2 + 11.18sINFOobjective_server_node#17 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f90947311d0, in ×2 + 11.18sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f909474ebbd, in exit ×2 + 11.19sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f909474ea75, in ×2 + 11.19sINFOobjective_server_node#14 Object "/opt/overlay_ws/install/moveit_pro_ml/lib/libmoveit_pro_ml.so", at 0x7f904b38fc41, in Ort::detail::Base<OrtEnv>::~Base() ×2 + 11.19sINFOobjective_server_node#13 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f904a16a704, in ×2 + 11.19sINFOobjective_server_node#12 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f904a1e1052, in ×2 + 11.19sINFOobjective_server_node#11 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f904a8dd176, in ×2 + 11.19sINFOobjective_server_node#10 Object "/usr/local/lib/python3.12/dist-packages/onnxruntime/capi/libonnxruntime.so.1.24.3", at 0x7f904a8dd079, in ×2 + 11.19sINFOobjective_server_node#9 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f90947b4dcd, in __libc_free ×2 + 11.19sINFOobjective_server_node#8 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f90947b2439, in ×2 + 11.19sINFOobjective_server_node#7 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f90947b1da4, in ×2 + 11.19sINFOobjective_server_node#6 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f90947b0d2a, in ×2 + 11.19sINFOobjective_server_node#5 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f90947b0b7b, in ×2 + 11.19sINFOobjective_server_node#4 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f90947afff4, in ×2 + 11.19sINFOobjective_server_node#3 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f90947307b5, in ×2 + 11.19sINFOobjective_server_node#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f909472f8fe, in abort ×2 + 11.19sINFOobjective_server_node#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f909474c27d, in raise ×2 + 11.19sINFOobjective_server_node#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f90947a5b2c, in pthread_kill ×2 + 11.19sERRORobjective_server_nodeAborted (Signal sent by tkill() 9073 0) ×2 + 11.26sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.26sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.26sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.74sERRORobjective_server_node_main-14process has died [pid 9073, exit code -6, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_2dsji125 --params-file /tmp/launch_params_dz0vorac --params-file /tmp/launch_params_3qedaef6 --params-file /tmp/launch_params__olzajdb --params-file /tmp/launch_params_o5d447po --params-file /tmp/launch_params_er0xd3ih --params-file /tmp/launch_params_c5szx1sw --params-file /tmp/launch_params_05tmc9ld --params-file /tmp/launch_params_yccqtt7w']. ×2 + 11.74sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.96sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9156] ×2 + 11.96sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.02sINFOexecute_objective_bridge-17process has finished cleanly [pid 9076] ×2 + 12.03sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9072] ×2 + 12.04sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9071] ×2 + 12.05sERRORui_teleop_bridge-18process has died [pid 9077, 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_u_fu59dz']. ×2 + 12.07sINFOcomponent_container_mt-16process has finished cleanly [pid 9075] ×2 + 12.08sINFOwaypoint_manager_node-11process has finished cleanly [pid 9070] ×2 + 12.09sINFOparameter_manager_node-10process has finished cleanly [pid 9069] ×2 + 12.16sINFOcomponent_container_mt-15process has finished cleanly [pid 9074] ×2 + 13.18sINFOweb_bridge-19process has finished cleanly [pid 9078] ×2 + 13.18sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.76sINFOros2_control_node-1process has finished cleanly [pid 9031] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 18 errors · 63 warnings · 214 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717137 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717137 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023825 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.023825 ms (missed cycles : 5).[0m ×2 + 1.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.29sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.29sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.29sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.29sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831946 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831946 ms (missed cycles : 4).[0m ×2 + 2.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.22sINFOros2_control_node[2026-07-30 11:39:57.733] [info] Received new action goal ×2 + 2.22sINFOros2_control_node[2026-07-30 11:39:57.734] [info] Accepted new action goal ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832325 ms (missed cycles : 2). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832325 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1785411598.89053369 seconds ×3 + 3.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.01sWARNobjective_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 + 4.02sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.02sINFOobjective_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 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054515 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054515 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Push Button` starting at time: 1785411599.68751740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979920 ms (missed cycles : 6). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979920 ms (missed cycles : 6).[0m ×2 + 5.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.42sINFOros2_control_node[2026-07-30 11:40:00.931] [info] Received new action goal ×2 + 5.42sINFOros2_control_node[2026-07-30 11:40:00.931] [info] Accepted new action goal ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554579 ms (missed cycles : 2). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554579 ms (missed cycles : 2).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842921 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.842921 ms (missed cycles : 2).[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575664 ms (missed cycles : 3). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575664 ms (missed cycles : 3).[0m ×2 + 9.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.12sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.12sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.13sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.13sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310007 ms (missed cycles : 5). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.310007 ms (missed cycles : 5).[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192344 ms (missed cycles : 4). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192344 ms (missed cycles : 4).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509928 ms (missed cycles : 4). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.509928 ms (missed cycles : 4).[0m ×2 + 11.50sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.52sINFOros2_control_node[2026-07-30 11:40:07.031] [info] Received new action goal ×2 + 11.52sINFOros2_control_node[2026-07-30 11:40:07.031] [info] Accepted new action goal ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070093 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070093 ms (missed cycles : 2).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344883 ms (missed cycles : 6). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344883 ms (missed cycles : 6).[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180456 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180456 ms (missed cycles : 3).[0m ×2 + 15.12sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785411610.63767791 seconds ×3 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077449 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077449 ms (missed cycles : 2).[0m ×2 + 15.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785411611.29970312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.90sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 15.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.91sINFOros2_control_node[2026-07-30 11:40:11.423] [info] Received new action goal ×2 + 15.91sINFOros2_control_node[2026-07-30 11:40:11.423] [info] Accepted new action goal ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228851 ms (missed cycles : 5). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228851 ms (missed cycles : 5).[0m ×2 + 17.18sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.18sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.53sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 17.55sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5).[0m ×2 + 18.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411614.08210039 seconds ×3 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 75 warnings · 288 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.58sWARNobjective_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 + 2.58sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 2.58sINFOobjective_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 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.237586 ms (missed cycles : 8). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.237586 ms (missed cycles : 8).[0m ×2 + 7.42sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.43sINFOros2_control_node[2026-07-30 11:41:48.155] [info] Received new action goal ×2 + 7.43sINFOros2_control_node[2026-07-30 11:41:48.155] [info] Accepted new action goal ×2 + 7.43sINFOros2_control_node[2026-07-30 11:41:48.155] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026263 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026263 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919083 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919083 ms (missed cycles : 3).[0m ×2 + 9.42sINFOros2_control_nodeMuJoCo sim: 0.54% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.640340 ms (missed cycles : 7). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.640340 ms (missed cycles : 7).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094633 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094633 ms (missed cycles : 2).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206118 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206118 ms (missed cycles : 3).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288950 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288950 ms (missed cycles : 2).[0m ×2 + 14.48sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Got request to cancel active goal. ×2 + 14.48sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Canceling active goal... ×2 + 14.49sERRORobjective_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: 1785411715.21616626 seconds ×3 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6).[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785411715.81591964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3).[0m ×2 + 16.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785411716.97605467 seconds ×3 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4).[0m ×2 + 16.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785411717.56719494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.84sINFOobjective_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 + 16.84sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.84sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785411717.56882691 seconds ×3 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3).[0m ×2 + 17.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785411718.30762506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.58sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785411718.30805302 seconds ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 178 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785411522.03345776 seconds ×3 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143731 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143731 ms (missed cycles : 2).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016378 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016378 ms (missed cycles : 4).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.882604 ms (missed cycles : 6). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.882604 ms (missed cycles : 6).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_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 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.55sWARNobjective_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 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.55sINFOobjective_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 ×4 + 3.59sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785411525.32173538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306722 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306722 ms (missed cycles : 2).[0m ×2 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.78sINFOros2_control_node[2026-07-30 11:38:45.515] [info] Received new action goal ×2 + 3.78sINFOros2_control_node[2026-07-30 11:38:45.515] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279382 ms (missed cycles : 4). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279382 ms (missed cycles : 4).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777049 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777049 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553516 ms (missed cycles : 4). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553516 ms (missed cycles : 4).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178702 ms (missed cycles : 4). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178702 ms (missed cycles : 4).[0m ×2 + 8.42sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031769 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031769 ms (missed cycles : 3).[0m ×2 + 8.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.92sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 9.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 9.03sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.03sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×4 + 9.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 9.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.19sINFOobjective_server_nodeFound path in 5 iterations (0.00368656 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 9.25sINFOobjective_server_nodeFound path in 1 iterations (0.0021309 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 9.39sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.51sINFOros2_control_node[2026-07-30 11:38:51.237] [info] Received new action goal ×2 + 9.51sINFOros2_control_node[2026-07-30 11:38:51.237] [info] Accepted new action goal ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568433 ms (missed cycles : 3). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568433 ms (missed cycles : 3).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.026506 ms (missed cycles : 6). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.026506 ms (missed cycles : 6).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669402 ms (missed cycles : 4). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669402 ms (missed cycles : 4).[0m ×2 + 11.95sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.96sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 12.01sINFOobjective_server_nodeFound path in 5 iterations (0.00432331 s). ×2 + 12.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 12.11sINFOros2_control_node[2026-07-30 11:38:53.839] [info] Received new action goal ×2 + 12.11sINFOros2_control_node[2026-07-30 11:38:53.839] [info] Accepted new action goal ×2 + 12.51sINFOros2_control_node[2026-07-30 11:38:54.241] [info] Received new action goal ×2 + 12.51sINFOros2_control_node[2026-07-30 11:38:54.241] [info] Accepted new action goal ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783366 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783366 ms (missed cycles : 3).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526287 ms (missed cycles : 5). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526287 ms (missed cycles : 5).[0m ×2 + 14.07sINFOobjective_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 + 14.08sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.08sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.08sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.08sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.10sERRORobjective_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: 1785411535.82912350 seconds ×3 + 14.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785411536.62405992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995956 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995956 ms (missed cycles : 3).[0m ×2 + 15.05sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.05sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.07sINFOros2_control_node[2026-07-30 11:38:56.797] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-07-30 11:38:56.797] [info] Accepted new action goal ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251332 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251332 ms (missed cycles : 2).[0m ×2 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537878 ms (missed cycles : 4). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537878 ms (missed cycles : 4).[0m ×2 + 17.45sINFOros2_control_node[2026-07-30 11:38:59.181] [info] Received new action goal ×2 + 17.45sINFOros2_control_node[2026-07-30 11:38:59.181] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 66 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3).[0m ×2 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3).[0m ×2 + 1.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785411501.97213173 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4).[0m ×2 + 3.08sWARNobjective_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 + 3.08sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.08sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785411502.59509158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785411502.67521858 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785411503.32035422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Accepted new action goal ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446498 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446498 ms (missed cycles : 3).[0m ×2 + 7.27sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.28sINFOros2_control_node[2026-07-30 11:38:26.759] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-07-30 11:38:26.759] [info] Accepted new action goal ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054924 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054924 ms (missed cycles : 4).[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375948 ms (missed cycles : 5). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.375948 ms (missed cycles : 5).[0m ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.59sINFOros2_control_node[2026-07-30 11:38:29.075] [info] Received new action goal ×2 + 9.59sINFOros2_control_node[2026-07-30 11:38:29.075] [info] Accepted new action goal ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134118 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134118 ms (missed cycles : 3).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 11.92sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 11.93sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 11.93sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 14.26sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 14.27sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 14.27sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 14.32sINFOobjective_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 + 14.33sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 14.33sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 14.34sERRORobjective_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: 1785411513.82314920 seconds ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.21sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 15.21sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.1s | 3 errors · 69 warnings · 187 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537924 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537924 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170792 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170792 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.368002 ms (missed cycles : 11). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.368002 ms (missed cycles : 11).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730104 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730104 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785411691.65000868 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.12sWARNobjective_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 + 4.12sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 4.12sINFOobjective_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 + 4.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785411692.28345561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-07-30 11:41:32.397] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-07-30 11:41:32.397] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.373057 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.373057 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535216 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535216 ms (missed cycles : 3).[0m ×2 + 6.16sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341005 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341005 ms (missed cycles : 5).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.339543 ms (missed cycles : 8). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.339543 ms (missed cycles : 8).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911526 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911526 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010378 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010378 ms (missed cycles : 2).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986041 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986041 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 14.55sINFOobjective_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 + 14.56sERRORobjective_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: 1785411702.71382189 seconds ×3 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.24sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 15.83sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.86sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.86sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 16.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.67sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 16.67sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.68sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 16.68sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.8s | 6 errors · 63 warnings · 109 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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: ``}. ×6 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578625 ms (missed cycles : 3). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578625 ms (missed cycles : 3).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.456287 ms (missed cycles : 11). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.456287 ms (missed cycles : 11).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494533 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494533 ms (missed cycles : 3).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431164 ms (missed cycles : 4). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431164 ms (missed cycles : 4).[0m ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.603882 ms (missed cycles : 7). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.603882 ms (missed cycles : 7).[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611216 ms (missed cycles : 4). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611216 ms (missed cycles : 4).[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335204 ms (missed cycles : 5). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335204 ms (missed cycles : 5).[0m ×2 + 13.80sERRORobjective_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: 1785411681.21224189 seconds ×3 + 14.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785411681.80324483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.180987 ms (missed cycles : 12). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.180987 ms (missed cycles : 12).[0m ×2 + 14.63sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 14.63sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.64sINFOros2_control_node[2026-07-30 11:41:22.046] [info] Received new action goal ×2 + 14.64sINFOros2_control_node[2026-07-30 11:41:22.046] [info] Accepted new action goal ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625553 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625553 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.389308 ms (missed cycles : 7). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.389308 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 60 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480449 ms (missed cycles : 5). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.480449 ms (missed cycles : 5).[0m ×2 + 8.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.02sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353138 ms (missed cycles : 5). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353138 ms (missed cycles : 5).[0m ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 8.39sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 8.41sINFOobjective_server_nodeFound path in 5 iterations (0.00339656 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________X____________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 1 iterations (0.00237586 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_________________________X] ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.78sINFOros2_control_node[2026-07-30 11:38:39.557] [info] Received new action goal ×2 + 8.78sINFOros2_control_node[2026-07-30 11:38:39.557] [info] Accepted new action goal ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329636 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329636 ms (missed cycles : 2).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314575 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314575 ms (missed cycles : 4).[0m ×2 + 10.95sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.23sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1785411522.03345776 seconds ×3 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143731 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143731 ms (missed cycles : 2).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016378 ms (missed cycles : 4). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016378 ms (missed cycles : 4).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.882604 ms (missed cycles : 6). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.882604 ms (missed cycles : 6).[0m ×2 + 14.54sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1785411525.32173538 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306722 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306722 ms (missed cycles : 2).[0m ×2 + 14.73sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 14.74sINFOros2_control_node[2026-07-30 11:38:45.515] [info] Received new action goal ×2 + 14.74sINFOros2_control_node[2026-07-30 11:38:45.515] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279382 ms (missed cycles : 4). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279382 ms (missed cycles : 4).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777049 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777049 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 66 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704320 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704320 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112133 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112133 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812003 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812003 ms (missed cycles : 2).[0m ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889640 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889640 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785411659.55146194 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.98sWARNobjective_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 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.98sINFOobjective_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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014575 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014575 ms (missed cycles : 5).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785411660.26098275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-07-30 11:41:00.434] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-07-30 11:41:00.434] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177795 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177795 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888306 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888306 ms (missed cycles : 3).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092412 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092412 ms (missed cycles : 4).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933349 ms (missed cycles : 3). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933349 ms (missed cycles : 3).[0m ×2 + 8.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.91sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448116 ms (missed cycles : 4). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448116 ms (missed cycles : 4).[0m ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.21sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.25sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 9.27sINFOobjective_server_nodeFound path in 5 iterations (0.00418363 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X______________X] ×2 + 9.35sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.39sINFOros2_control_node[2026-07-30 11:41:05.556] [info] Received new action goal ×2 + 9.39sINFOros2_control_node[2026-07-30 11:41:05.556] [info] Accepted new action goal ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961069 ms (missed cycles : 3). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961069 ms (missed cycles : 3).[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 11.61sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 11.61sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 13.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.26sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[0m ×2 + 14.14sINFOobjective_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 + 14.14sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 14.14sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 14.15sERRORobjective_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: 1785411670.32548738 seconds ×3 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5).[0m ×2 + 14.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.02sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 15.03sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 16.94sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.7s | 3 errors · 72 warnings · 346 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 0.60sWARNobjective_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 + 0.60sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.60sINFOobjective_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: 1785411464.38014674 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: 1785411464.44032001 seconds ×3 + 1.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 3.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.50sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 5.97sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 5.98sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 5.99sINFOros2_control_node[2026-07-30 11:37:49.772] [info] Received new action goal ×2 + 5.99sINFOros2_control_node[2026-07-30 11:37:49.772] [info] Accepted new action goal ×2 + 6.37sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402331 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.402331 ms (missed cycles : 5).[0m ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721093 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721093 ms (missed cycles : 3).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075922 ms (missed cycles : 5). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075922 ms (missed cycles : 5).[0m ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 9.71sINFOros2_control_node[2026-07-30 11:37:53.493] [info] Received new action goal ×2 + 9.71sINFOros2_control_node[2026-07-30 11:37:53.493] [info] Accepted new action goal ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.773978 ms (missed cycles : 7). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.773978 ms (missed cycles : 7).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3).[0m ×2 + 13.03sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 13.03sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.04sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Received new action goal ×2 + 13.04sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Accepted new action goal ×2 + 13.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.43sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Got request to cancel active goal. ×2 + 13.43sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Canceling active goal... ×2 + 13.44sERRORobjective_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: 1785411477.22364974 seconds ×3 + 13.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2).[0m ×2 + 14.03sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785411477.81194043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785411477.91208172 seconds ×3 + 14.75sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785411478.53196239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 14.93sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.94sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Accepted new action goal ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 60 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431164 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.603882 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.603882 ms (missed cycles : 7).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611216 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611216 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335204 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335204 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785411681.21224189 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.10sWARNobjective_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 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.10sINFOobjective_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 + 4.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785411681.80324483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.180987 ms (missed cycles : 12). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.180987 ms (missed cycles : 12).[0m ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.35sINFOros2_control_node[2026-07-30 11:41:22.046] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-07-30 11:41:22.046] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625553 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625553 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.389308 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.389308 ms (missed cycles : 7).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044427 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044427 ms (missed cycles : 2).[0m ×2 + 8.35sINFOros2_control_node[2026-07-30 11:41:26.054] [info] Received new action goal ×2 + 8.35sINFOros2_control_node[2026-07-30 11:41:26.054] [info] Accepted new action goal ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432152 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432152 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400159 ms (missed cycles : 5). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400159 ms (missed cycles : 5).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537924 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537924 ms (missed cycles : 3).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170792 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170792 ms (missed cycles : 3).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.368002 ms (missed cycles : 11). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.368002 ms (missed cycles : 11).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730104 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730104 ms (missed cycles : 3).[0m ×2 + 13.95sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785411691.65000868 seconds ×3 + 14.58sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785411692.28345561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.70sINFOros2_control_node[2026-07-30 11:41:32.397] [info] Received new action goal ×2 + 14.70sINFOros2_control_node[2026-07-30 11:41:32.397] [info] Accepted new action goal ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.373057 ms (missed cycles : 7). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.373057 ms (missed cycles : 7).[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535216 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535216 ms (missed cycles : 3).[0m ×2 + 16.61sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.61sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341005 ms (missed cycles : 5). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341005 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 4.4s | 42 warnings · 130 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5).[0m ×2 + 0.20sWARNobjective_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 ×3 + 0.20sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.20sINFOobjective_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 ×6 + 0.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785411549.29339170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.34sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785411551.43353295 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319505 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319505 ms (missed cycles : 4).[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.92sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785411553.01273894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084229 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084229 ms (missed cycles : 4).[0m ×2 + 4.72sINFOobjective_server_node[2026-07-30 11:39:13.809] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5).[0m ×2 + 5.28sINFOobjective_server_node[0;93m2026-07-30 11:39:14.372975396 [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 + 5.28sINFOobjective_server_node[0;93m2026-07-30 11:39:14.373013728 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.41sINFOobjective_server_node[2026-07-30 11:39:14.503] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.82sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914160311 [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 + 5.82sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914195273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.90sINFOobjective_server_node[2026-07-30 11:39:14.993] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.94sINFOobjective_server_node[0;93m2026-07-30 11:39:15.033632543 [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 + 5.94sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035597626 [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 + 5.94sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035615476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.96sINFOobjective_server_node[2026-07-30 11:39:15.049] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5).[0m ×2 + 6.27sINFOobjective_server_node[0;93m2026-07-30 11:39:15.360541804 [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 + 6.29sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381678823 [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 + 6.29sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381715495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2).[0m ×2 + 7.74sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785411556.83351374 seconds ×3 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4).[0m ×2 + 8.43sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785411557.52026653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 8.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 8.52sINFOobjective_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 + 8.53sINFOobjective_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 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.86sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Received new action goal ×2 + 8.86sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Accepted new action goal ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 42 warnings · 162 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646439 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646439 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492643 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492643 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968337 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968337 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785411547.74459720 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505063 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505063 ms (missed cycles : 5).[0m ×2 + 3.37sWARNobjective_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 + 3.38sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.38sINFOobjective_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 ×6 + 3.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785411548.41611242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785411548.51624966 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785411549.29339170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785411551.43353295 seconds ×3 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319505 ms (missed cycles : 4). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319505 ms (missed cycles : 4).[0m ×2 + 7.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785411553.01273894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084229 ms (missed cycles : 4). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084229 ms (missed cycles : 4).[0m ×2 + 8.77sINFOobjective_server_node[2026-07-30 11:39:13.809] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5).[0m ×2 + 9.34sINFOobjective_server_node[0;93m2026-07-30 11:39:14.372975396 [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 + 9.34sINFOobjective_server_node[0;93m2026-07-30 11:39:14.373013728 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.47sINFOobjective_server_node[2026-07-30 11:39:14.503] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.88sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914160311 [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 + 9.88sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914195273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.96sINFOobjective_server_node[2026-07-30 11:39:14.993] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.00sINFOobjective_server_node[0;93m2026-07-30 11:39:15.033632543 [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 + 10.00sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035597626 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.00sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035615476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.01sINFOobjective_server_node[2026-07-30 11:39:15.049] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5).[0m ×2 + 10.32sINFOobjective_server_node[0;93m2026-07-30 11:39:15.360541804 [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 + 10.35sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381678823 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.35sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381715495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 3.4s | 21 errors · 39 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070093 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070093 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344883 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344883 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180456 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180456 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785411610.63767791 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077449 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077449 ms (missed cycles : 2).[0m ×2 + 3.42sWARNobjective_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 + 3.42sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.42sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785411611.29970312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.58sINFOros2_control_node[2026-07-30 11:40:11.423] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-07-30 11:40:11.423] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228851 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228851 ms (missed cycles : 5).[0m ×2 + 4.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.85sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.21sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 5.22sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411614.08210039 seconds ×3 + 6.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777255 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777255 ms (missed cycles : 2).[0m ×2 + 6.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785411614.70464087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sINFOobjective_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 + 6.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 7.00sINFOros2_control_node[2026-07-30 11:40:14.838] [info] Received new action goal ×2 + 7.00sINFOros2_control_node[2026-07-30 11:40:14.838] [info] Accepted new action goal ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482386 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482386 ms (missed cycles : 3).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937519 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937519 ms (missed cycles : 5).[0m ×2 + 8.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411616.40800500 seconds ×3 + 9.21sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785411617.04935002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.36sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 9.36sINFOros2_control_node[2026-07-30 11:40:17.203] [info] Received new action goal ×2 + 9.36sINFOros2_control_node[2026-07-30 11:40:17.203] [info] Accepted new action goal ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160775 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160775 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 2.3s | 21 errors · 39 warnings · 236 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785411610.63767791 seconds ×3 + 0.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077449 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077449 ms (missed cycles : 2).[0m ×2 + 0.63sWARNobjective_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 + 0.63sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.63sINFOobjective_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 + 0.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785411611.29970312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.79sINFOros2_control_node[2026-07-30 11:40:11.423] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-07-30 11:40:11.423] [info] Accepted new action goal ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228851 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228851 ms (missed cycles : 5).[0m ×2 + 2.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.06sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.41sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.42sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411614.08210039 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777255 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777255 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785411614.70464087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.20sINFOros2_control_node[2026-07-30 11:40:14.838] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-07-30 11:40:14.838] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482386 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482386 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937519 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937519 ms (missed cycles : 5).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411616.40800500 seconds ×3 + 6.41sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785411617.04935002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.56sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.57sINFOros2_control_node[2026-07-30 11:40:17.203] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-07-30 11:40:17.203] [info] Accepted new action goal ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160775 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160775 ms (missed cycles : 4).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685881 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685881 ms (missed cycles : 4).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557408 ms (missed cycles : 5). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557408 ms (missed cycles : 5).[0m ×2 + 9.22sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 9.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 3 errors · 40 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094633 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094633 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206118 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206118 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288950 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288950 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_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 + 3.02sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Got request to cancel active goal. ×2 + 3.02sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Canceling active goal... ×2 + 3.03sERRORobjective_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: 1785411715.21616626 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6).[0m ×2 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.62sWARNobjective_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 + 3.62sWARNobjective_server_nodeNot all Objectives could be registered: ×8 + 3.62sINFOobjective_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 + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1785411715.81591964 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 4.301053 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785411716.97605467 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785411717.56719494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.38sINFOobjective_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 + 5.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785411717.56882691 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785411718.30762506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785411718.30805302 seconds ×3 + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785411718.89769554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3).[0m ×2 + 7.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785411720.05779433 seconds ×3 + 7.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791404 ms (missed cycles : 3). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 58 warnings · 575 info |
+ 0.00sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 0.57sINFOobjective_server_node[2026-07-30 11:37:39.571] [moveit_pro_license] [info] ×2 + 0.57sINFOobjective_server_node************************************************* ×4 + 0.57sINFOobjective_server_node* MoveIt Pro License ×2 + 0.57sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.69sINFOobjective_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 + 0.69sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.70sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.70sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.70sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.70sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.70sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.70sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.70sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.70sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 1.05sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 1.05sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.13sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 1.13sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 1.13sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 1.13sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 1.13sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 1.13sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 1.13sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 1.13sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 1.13sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 1.13sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 1.13sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 1.13sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 1.13sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 1.13sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 1.28sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.28sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.28sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.28sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.28sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.29sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.29sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.29sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.29sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.29sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.29sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.30sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657253 ms (missed cycles : 3). + 1.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657253 ms (missed cycles : 3).[0m ×2 + 1.31sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.31sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.35sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.44sINFOcomponent_container_mt[2026-07-30 11:37:40.438] [moveit_pro_license] [info] ×2 + 1.44sINFOcomponent_container_mt************************************************* ×4 + 1.44sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.44sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.58sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.58sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.58sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.62sINFOros2-3process has finished cleanly [pid 9033] ×2 + 1.67sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.68sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.72sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.75sINFOros2_control_node[2026-07-30 11:37:40.748] [info] Controller state will be published at 10 Hz. ×2 + 1.75sINFOros2_control_node[2026-07-30 11:37:40.749] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.04sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.04sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 2.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 2.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.10sINFOros2-7process has finished cleanly [pid 9037] ×2 + 2.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOforce_torque_sensor_broadcasterconfigure successful + 2.11sINFOros2_control_nodeconfigure successful[0m ×2 + 2.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.36sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.39sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.39sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.39sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.42sINFOros2-2process has finished cleanly [pid 9032] ×2 + 2.45sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 2.45sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.49sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.50sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.51sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.51sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.53sINFOros2_control_node[2026-07-30 11:37:41.531] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.53sINFOros2_control_node[2026-07-30 11:37:41.531] [info] Controller state will be published at 50 Hz. ×2 + 2.53sINFOros2_control_node[2026-07-30 11:37:41.535] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.84sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.84sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 2.84sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 2.86sINFOros2-6process has finished cleanly [pid 9036] ×2 + 2.90sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.91sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.91sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.91sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.92sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.92sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4).[0m ×2 + 3.11sWARNobjective_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 + 3.11sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 3.11sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.21sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.21sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.22sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.22sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.24sINFOros2-5process has finished cleanly [pid 9035] ×2 + 3.27sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 3.27sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 3.31sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.31sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.31sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.33sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 3.33sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.71sINFOros2-8process has finished cleanly [pid 9038] ×2 + 3.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.72sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.72sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.72sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.72sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.72sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 3.73sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 3.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.74sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 3.74sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 3.74sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 3.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.74sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 3.74sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 3.74sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.75sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.75sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.23sINFOros2-4process has finished cleanly [pid 9034] ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 7.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 8.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.28sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[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 3.288950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288950 ms (missed cycles : 2).[0m ×2 + 1.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Got request to cancel active goal. ×2 + 1.01sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Canceling active goal... ×2 + 1.02sERRORobjective_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: 1785411715.21616626 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.04sINFOros2_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 + 1.05sINFOros2_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: 1785411715.81591964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785411716.97605467 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785411717.56719494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.37sINFOobjective_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 + 3.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785411717.56882691 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785411718.30762506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785411718.30805302 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785411718.89769554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785411720.05779433 seconds ×3 + 5.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791404 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791404 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 30 warnings · 91 info |
+ 0.00sINFOros2_control_node[2026-07-30 11:38:19.016] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-07-30 11:38:19.016] [info] Accepted new action goal ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3).[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 + 1.67sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Accepted new action goal ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785411501.97213173 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_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 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4).[0m ×2 + 3.55sWARNobjective_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 + 3.55sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.55sINFOobjective_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 ×4 + 3.58sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785411502.59509158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785411502.67521858 seconds ×3 + 4.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785411503.32035422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.41sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6).[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 1.687197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Accepted new action goal ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1785411477.22364974 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_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 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_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 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785411477.81194043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785411477.91208172 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785411478.53196239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sWARNobjective_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 ×3 + 3.59sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.59sINFOobjective_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 ×6 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 27 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646439 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646439 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492643 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492643 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968337 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968337 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785411547.74459720 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505063 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505063 ms (missed cycles : 5).[0m ×2 + 3.37sWARNobjective_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 + 3.38sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.38sINFOobjective_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 ×4 + 3.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785411548.41611242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785411548.51624966 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785411549.29339170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785411551.43353295 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 48 warnings · 463 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.07sINFOros2_control_node[2026-07-30 11:37:40.748] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-07-30 11:37:40.749] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.43sINFOros2-7process has finished cleanly [pid 9037] ×2 + 0.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.43sINFOforce_torque_sensor_broadcasterconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.75sINFOros2-2process has finished cleanly [pid 9032] ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.78sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.83sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.83sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-07-30 11:37:41.531] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.85sINFOros2_control_node[2026-07-30 11:37:41.531] [info] Controller state will be published at 50 Hz. ×2 + 0.86sINFOros2_control_node[2026-07-30 11:37:41.535] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.18sINFOros2-6process has finished cleanly [pid 9036] ×2 + 1.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.23sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.23sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.23sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.23sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4).[0m ×2 + 1.43sWARNobjective_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 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.56sINFOros2-5process has finished cleanly [pid 9035] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.63sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.63sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 1.66sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.04sINFOros2-8process has finished cleanly [pid 9038] ×2 + 2.04sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 2.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 2.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.55sINFOros2-4process has finished cleanly [pid 9034] ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 6.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.61sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sWARNobjective_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 + 2.58sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.58sINFOobjective_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 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 39 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288950 ms (missed cycles : 2).[0m ×2 + 1.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Got request to cancel active goal. ×2 + 1.01sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Canceling active goal... ×2 + 1.02sERRORobjective_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: 1785411715.21616626 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.04sINFOros2_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 + 1.05sINFOros2_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: 1785411715.81591964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785411716.97605467 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785411717.56719494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.37sINFOobjective_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 + 3.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785411717.56882691 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785411718.30762506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785411718.30805302 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785411718.89769554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785411720.05779433 seconds ×3 + 5.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791404 ms (missed cycles : 3). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791404 ms (missed cycles : 3).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956589 ms (missed cycles : 3). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956589 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.1s | 27 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646439 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.646439 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492643 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492643 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968337 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968337 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1785411547.74459720 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505063 ms (missed cycles : 5). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.505063 ms (missed cycles : 5).[0m ×2 + 3.37sWARNobjective_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 + 3.38sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.38sINFOobjective_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 ×4 + 3.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1785411548.41611242 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1785411548.51624966 seconds ×3 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785411549.29339170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3).[0m ×2 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4). + 6.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785411551.43353295 seconds ×3 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:39:13.809] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5).[0m ×2 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.372975396 [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 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.373013728 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-07-30 11:39:14.503] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914160311 [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 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914195273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.18sINFOobjective_server_node[2026-07-30 11:39:14.993] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.22sINFOobjective_server_node[0;93m2026-07-30 11:39:15.033632543 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035597626 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035615476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.24sINFOobjective_server_node[2026-07-30 11:39:15.049] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_server_node[0;93m2026-07-30 11:39:15.360541804 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381678823 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381715495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785411556.83351374 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4).[0m ×2 + 3.64sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785411557.52026653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_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 + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4).[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 1.687197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Accepted new action goal ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1785411477.22364974 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_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 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_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 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785411477.81194043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785411477.91208172 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785411478.53196239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3).[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 3.929397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3).[0m ×2 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3).[0m ×2 + 1.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785411501.97213173 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4).[0m ×2 + 3.08sWARNobjective_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 + 3.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.08sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785411502.59509158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785411502.67521858 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785411503.32035422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Accepted new action goal ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6).[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 3.929397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3).[0m ×2 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3).[0m ×2 + 1.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785411501.97213173 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4).[0m ×2 + 3.08sWARNobjective_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 + 3.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.08sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785411502.59509158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785411502.67521858 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785411503.32035422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Accepted new action goal ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 21 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:39:13.809] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5).[0m ×2 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.372975396 [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 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.373013728 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-07-30 11:39:14.503] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914160311 [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 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914195273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.18sINFOobjective_server_node[2026-07-30 11:39:14.993] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.22sINFOobjective_server_node[0;93m2026-07-30 11:39:15.033632543 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035597626 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035615476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.24sINFOobjective_server_node[2026-07-30 11:39:15.049] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_server_node[0;93m2026-07-30 11:39:15.360541804 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381678823 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381715495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785411556.83351374 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4).[0m ×2 + 3.64sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785411557.52026653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_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 + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_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 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[0m ×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 3.288950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288950 ms (missed cycles : 2).[0m ×2 + 1.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Got request to cancel active goal. ×2 + 1.01sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Canceling active goal... ×2 + 1.02sERRORobjective_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: 1785411715.21616626 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.04sINFOros2_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 + 1.05sINFOros2_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: 1785411715.81591964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785411716.97605467 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785411717.56719494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.37sINFOobjective_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 + 3.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785411717.56882691 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785411718.30762506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785411718.30805302 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785411718.89769554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785411720.05779433 seconds ×3 + 5.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791404 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 3.288950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288950 ms (missed cycles : 2).[0m ×2 + 1.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.01sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Got request to cancel active goal. ×2 + 1.01sINFOros2_control_node[2026-07-30 11:41:55.207] [info] Canceling active goal... ×2 + 1.02sERRORobjective_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: 1785411715.21616626 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625506 ms (missed cycles : 6).[0m ×2 + 1.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.04sINFOros2_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 + 1.05sINFOros2_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: 1785411715.81591964 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.301053 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1785411716.97605467 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520393 ms (missed cycles : 4).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1785411717.56719494 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.37sINFOobjective_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 + 3.37sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.37sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1785411717.56882691 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795577 ms (missed cycles : 3).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1785411718.30762506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1785411718.30805302 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1785411718.89769554 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983021 ms (missed cycles : 3).[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1785411720.05779433 seconds ×3 + 5.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791404 ms (missed cycles : 3). | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.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 1.687197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Accepted new action goal ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1785411477.22364974 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_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 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_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 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785411477.81194043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785411477.91208172 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785411478.53196239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_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 1.687197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Accepted new action goal ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1785411477.22364974 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_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 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_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 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785411477.81194043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785411477.91208172 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785411478.53196239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3).[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 1.687197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Accepted new action goal ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1785411477.22364974 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_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 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_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 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785411477.81194043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785411477.91208172 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785411478.53196239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.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 1.687197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Accepted new action goal ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1785411477.22364974 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_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 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_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 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785411477.81194043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785411477.91208172 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785411478.53196239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3).[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 1.687197 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687197 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921498 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541992 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 2.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-07-30 11:37:56.822] [info] Accepted new action goal ×2 + 2.50sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-07-30 11:37:57.208] [info] Canceling active goal... ×2 + 2.51sERRORobjective_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: 1785411477.22364974 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443669 ms (missed cycles : 2).[0m ×2 + 3.10sWARNobjective_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 + 3.10sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.10sINFOobjective_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 + 3.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1785411477.81194043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1785411477.91208172 seconds ×3 + 3.82sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1785411478.53196239 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-07-30 11:37:58.718] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398140 ms (missed cycles : 3).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.621606 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.985147 ms (missed cycles : 3).[0m ×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 3.929397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3).[0m ×2 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3).[0m ×2 + 1.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785411501.97213173 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4).[0m ×2 + 3.08sWARNobjective_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 + 3.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.08sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785411502.59509158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785411502.67521858 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785411503.32035422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Accepted new action goal ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6).[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 3.929397 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.929397 ms (missed cycles : 3).[0m ×2 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439739 ms (missed cycles : 3).[0m ×2 + 1.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Received new action goal ×2 + 1.21sINFOros2_control_node[2026-07-30 11:38:20.688] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902109 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1785411501.97213173 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600290 ms (missed cycles : 4).[0m ×2 + 3.08sWARNobjective_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 + 3.08sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.08sINFOobjective_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 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1785411502.59509158 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1785411502.67521858 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1785411503.32035422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.93sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-07-30 11:38:23.424] [info] Accepted new action goal ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809509 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223948 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935277 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 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 · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 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 · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 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 · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 24 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.196959 ms (missed cycles : 5).[0m ×2 + 0.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Received new action goal ×2 + 0.63sINFOros2_control_node[2026-07-30 11:38:31.411] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480744 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985632 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-07-30 11:38:33.751] [info] Accepted new action goal ×2 + 3.03sINFOobjective_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 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-07-30 11:38:33.810] [info] Canceling active goal... ×2 + 3.04sERRORobjective_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: 1785411513.82314920 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321268 ms (missed cycles : 5).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNobjective_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 + 3.72sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.72sINFOobjective_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 + 3.73sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1785411514.51133084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-07-30 11:38:34.695] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.145964 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395522 ms (missed cycles : 5).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808981 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 24 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.026506 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.026506 ms (missed cycles : 6).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669402 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669402 ms (missed cycles : 4).[0m ×2 + 1.16sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 1.16sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.16sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 1.16sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 1.21sINFOobjective_server_nodeFound path in 5 iterations (0.00432331 s). ×2 + 1.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________X_____________X] ×2 + 1.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.31sINFOros2_control_node[2026-07-30 11:38:53.839] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-07-30 11:38:53.839] [info] Accepted new action goal ×2 + 1.71sINFOros2_control_node[2026-07-30 11:38:54.241] [info] Received new action goal ×2 + 1.71sINFOros2_control_node[2026-07-30 11:38:54.241] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783366 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783366 ms (missed cycles : 3).[0m ×2 + 3.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526287 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526287 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.29sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.30sERRORobjective_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: 1785411535.82912350 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.03sWARNobjective_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 + 4.03sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.03sINFOobjective_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 + 4.10sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1785411536.62405992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995956 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995956 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.27sINFOros2_control_node[2026-07-30 11:38:56.797] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-07-30 11:38:56.797] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251332 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251332 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537878 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537878 ms (missed cycles : 4).[0m ×2 + 6.65sINFOros2_control_node[2026-07-30 11:38:59.181] [info] Received new action goal ×2 + 6.65sINFOros2_control_node[2026-07-30 11:38:59.181] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 27 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.944344 ms (missed cycles : 5).[0m ×2 + 0.20sWARNobjective_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 + 0.20sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.20sINFOobjective_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 + 0.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1785411549.29339170 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.34sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Received new action goal ×2 + 0.34sINFOros2_control_node[2026-07-30 11:39:09.430] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746149 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683130 ms (missed cycles : 4).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1785411551.43353295 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319505 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319505 ms (missed cycles : 4).[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1785411553.01273894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084229 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084229 ms (missed cycles : 4).[0m ×2 + 4.72sINFOobjective_server_node[2026-07-30 11:39:13.809] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5).[0m ×2 + 5.28sINFOobjective_server_node[0;93m2026-07-30 11:39:14.372975396 [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 + 5.28sINFOobjective_server_node[0;93m2026-07-30 11:39:14.373013728 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.41sINFOobjective_server_node[2026-07-30 11:39:14.503] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.82sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914160311 [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 + 5.82sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914195273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.90sINFOobjective_server_node[2026-07-30 11:39:14.993] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.94sINFOobjective_server_node[0;93m2026-07-30 11:39:15.033632543 [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 + 5.94sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035597626 [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 + 5.94sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035615476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.96sINFOobjective_server_node[2026-07-30 11:39:15.049] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5).[0m ×2 + 6.27sINFOobjective_server_node[0;93m2026-07-30 11:39:15.360541804 [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 + 6.29sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381678823 [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 + 6.29sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381715495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 21 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:39:13.809] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5).[0m ×2 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.372975396 [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 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.373013728 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-07-30 11:39:14.503] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914160311 [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 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914195273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.18sINFOobjective_server_node[2026-07-30 11:39:14.993] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.22sINFOobjective_server_node[0;93m2026-07-30 11:39:15.033632543 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035597626 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035615476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.24sINFOobjective_server_node[2026-07-30 11:39:15.049] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_server_node[0;93m2026-07-30 11:39:15.360541804 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381678823 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381715495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785411556.83351374 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4).[0m ×2 + 3.64sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785411557.52026653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_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 + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 21 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:39:13.809] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5).[0m ×2 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.372975396 [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 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.373013728 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-07-30 11:39:14.503] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914160311 [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 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914195273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.18sINFOobjective_server_node[2026-07-30 11:39:14.993] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.22sINFOobjective_server_node[0;93m2026-07-30 11:39:15.033632543 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035597626 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035615476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.24sINFOobjective_server_node[2026-07-30 11:39:15.049] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_server_node[0;93m2026-07-30 11:39:15.360541804 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381678823 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381715495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785411556.83351374 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4).[0m ×2 + 3.64sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785411557.52026653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_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 + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 21 warnings · 81 info |
+ 0.00sINFOobjective_server_node[2026-07-30 11:39:13.809] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373486 ms (missed cycles : 5).[0m ×2 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.372975396 [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 + 0.56sINFOobjective_server_node[0;93m2026-07-30 11:39:14.373013728 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.69sINFOobjective_server_node[2026-07-30 11:39:14.503] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914160311 [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 + 1.10sINFOobjective_server_node[0;93m2026-07-30 11:39:14.914195273 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.18sINFOobjective_server_node[2026-07-30 11:39:14.993] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.22sINFOobjective_server_node[0;93m2026-07-30 11:39:15.033632543 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035597626 [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 + 1.23sINFOobjective_server_node[0;93m2026-07-30 11:39:15.035615476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.24sINFOobjective_server_node[2026-07-30 11:39:15.049] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.260653 ms (missed cycles : 5).[0m ×2 + 1.55sINFOobjective_server_node[0;93m2026-07-30 11:39:15.360541804 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381678823 [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 + 1.57sINFOobjective_server_node[0;93m2026-07-30 11:39:15.381715495 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823038 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1785411556.83351374 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587768 ms (missed cycles : 4).[0m ×2 + 3.64sWARNobjective_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 + 3.64sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.64sINFOobjective_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 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1785411557.52026653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.80sINFOobjective_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 + 3.81sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-07-30 11:39:17.956] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094545 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536842 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 18 errors · 21 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070093 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070093 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344883 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.344883 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180456 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180456 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1785411610.63767791 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077449 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077449 ms (missed cycles : 2).[0m ×2 + 3.42sWARNobjective_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 + 3.42sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.42sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785411611.29970312 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.58sINFOros2_control_node[2026-07-30 11:40:11.423] [info] Received new action goal ×2 + 3.58sINFOros2_control_node[2026-07-30 11:40:11.423] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228851 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228851 ms (missed cycles : 5).[0m ×2 + 4.85sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.85sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 5.22sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411614.08210039 seconds ×3 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 30 warnings · 169 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.921542 ms (missed cycles : 5).[0m ×2 + 1.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411614.08210039 seconds ×3 + 1.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777255 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777255 ms (missed cycles : 2).[0m ×2 + 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 ×2 + 1.62sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 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 ×4 + 1.66sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1785411614.70464087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.79sINFOros2_control_node[2026-07-30 11:40:14.838] [info] Received new action goal ×2 + 1.79sINFOros2_control_node[2026-07-30 11:40:14.838] [info] Accepted new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482386 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482386 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937519 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.937519 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1785411616.40800500 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1785411617.04935002 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.16sINFOros2_control_node[2026-07-30 11:40:17.203] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-07-30 11:40:17.203] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160775 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160775 ms (missed cycles : 4).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685881 ms (missed cycles : 4). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685881 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557408 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557408 ms (missed cycles : 5).[0m ×2 + 6.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 | ||||
| − 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 3.875297 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875297 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612646 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612646 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433622 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433622 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666902 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666902 ms (missed cycles : 2).[0m ×2 + 3.08sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 3.13sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.36sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1785411628.70835567 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.01sWARNobjective_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 + 4.01sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.01sINFOobjective_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 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501416 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501416 ms (missed cycles : 3).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1785411629.44826174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOobjective_server_nodeFound path in 5 iterations (0.0043048 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.36sINFOros2_control_node[2026-07-30 11:40:29.712] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-07-30 11:40:29.712] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918464 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918464 ms (missed cycles : 3).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761236 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761236 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 1.704320 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704320 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112133 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112133 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812003 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812003 ms (missed cycles : 2).[0m ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889640 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889640 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785411659.55146194 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sWARNobjective_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 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014575 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014575 ms (missed cycles : 5).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785411660.26098275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-07-30 11:41:00.434] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-07-30 11:41:00.434] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177795 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177795 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888306 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888306 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 1.704320 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704320 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112133 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112133 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812003 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.812003 ms (missed cycles : 2).[0m ×2 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889640 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889640 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1785411659.55146194 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sWARNobjective_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 + 3.98sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.98sINFOobjective_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 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014575 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.014575 ms (missed cycles : 5).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1785411660.26098275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-07-30 11:41:00.434] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-07-30 11:41:00.434] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177795 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.177795 ms (missed cycles : 5).[0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888306 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888306 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 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[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 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[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 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[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 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[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 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[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 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[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 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[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 8.650110 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650110 ms (missed cycles : 6).[0m ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-07-30 11:41:07.779] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896626 ms (missed cycles : 3).[0m ×2 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.01sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-07-30 11:41:09.434] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.316193 ms (missed cycles : 5).[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 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Got request to cancel active goal. ×2 + 2.90sINFOros2_control_node[2026-07-30 11:41:10.311] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1785411670.32548738 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 ms (missed cycles : 5). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769332 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 + 3.56sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 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 ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1785411671.02177572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-07-30 11:41:11.205] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.323676 ms (missed cycles : 2).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843453 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 24 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431164 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431164 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.603882 ms (missed cycles : 7). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.603882 ms (missed cycles : 7).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611216 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611216 ms (missed cycles : 4).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335204 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335204 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1785411681.21224189 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.10sWARNobjective_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 + 4.10sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.10sINFOobjective_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 + 4.10sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1785411681.80324483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.180987 ms (missed cycles : 12). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.180987 ms (missed cycles : 12).[0m ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.35sINFOros2_control_node[2026-07-30 11:41:22.046] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-07-30 11:41:22.046] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625553 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625553 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.389308 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.389308 ms (missed cycles : 7).[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 4.537924 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537924 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170792 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170792 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.368002 ms (missed cycles : 11). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.368002 ms (missed cycles : 11).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730104 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730104 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1785411691.65000868 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.12sWARNobjective_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 + 4.12sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.12sINFOobjective_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 + 4.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1785411692.28345561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.24sINFOros2_control_node[2026-07-30 11:41:32.397] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-07-30 11:41:32.397] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.373057 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.373057 ms (missed cycles : 7).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535216 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535216 ms (missed cycles : 3).[0m ×2 + 6.16sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341005 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341005 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sWARNobjective_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 ×3 + 3.59sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.59sINFOobjective_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 ×6 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sWARNobjective_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 ×3 + 3.59sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.59sINFOobjective_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 ×6 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sWARNobjective_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 ×3 + 3.59sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.59sINFOobjective_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 ×6 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925504 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_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 + 2.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.59sWARNobjective_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 ×3 + 3.59sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 3.59sINFOobjective_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 ×6 + 3.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_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 + 4.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sWARNobjective_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 + 2.58sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.58sINFOobjective_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 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sWARNobjective_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 + 2.58sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.58sINFOobjective_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 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region and Cover | select_region_and_cover.xml | 0.0s | 3 errors · 30 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567469 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720684 ms (missed cycles : 3).[0m ×2 + 1.98sINFOobjective_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 + 1.99sERRORobjective_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: 1785411702.71382189 seconds ×3 + 2.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191765 ms (missed cycles : 2).[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.58sWARNobjective_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 + 2.58sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 2.58sINFOobjective_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 + 2.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1785411703.31632423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1785411703.39645576 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899177 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1785411703.98866844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_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 + 3.29sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1785411704.02042389 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1785411704.72601986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.831] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-07-30 11:41:44.832] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735892 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568894 ms (missed cycles : 4).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699768 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.5s | 55 warnings · 625 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/2026-07-30-11-37-35-670517-3b8cb964706e-8983 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.22sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.24sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.24sINFOcontroller_managerupdate rate is 600 Hz + 1.24sINFOcontroller_managerOverruns handling is : enabled + 1.24sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.24sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170419 ms (missed cycles : 2). + 1.42sINFOros2_control_node-1process started with pid [9031] ×2 + 1.42sINFOmove_group-9process started with pid [9068] ×2 + 1.43sINFOparameter_manager_node-10process started with pid [9069] ×2 + 1.43sINFOwaypoint_manager_node-11process started with pid [9070] ×2 + 1.43sINFOmove_joint_resampler_node-12process started with pid [9071] ×2 + 1.43sINFOmove_end_effector_resampler_node-13process started with pid [9072] ×2 + 1.43sINFOobjective_server_node_main-14process started with pid [9073] ×2 + 1.43sINFOcomponent_container_mt-15process started with pid [9074] ×2 + 1.43sINFOcomponent_container_mt-16process started with pid [9075] ×2 + 1.43sINFOexecute_objective_bridge-17process started with pid [9076] ×2 + 1.43sINFOui_teleop_bridge-18process started with pid [9077] ×2 + 1.43sINFOweb_bridge-19process started with pid [9078] ×2 + 1.44sINFOtf2_web_republisher_node-20process started with pid [9156] ×2 + 1.44sINFOvideo_server-21process started with pid [9157] ×2 + 1.44sINFOweb_bridge_auth_proxy-22process started with pid [9158] ×2 + 1.44sINFOweb_video_auth_proxy-23process started with pid [9159] ×2 + 1.44sINFOros2-2process started with pid [9032] ×2 + 1.45sINFOros2-3process started with pid [9033] ×2 + 1.45sINFOros2-4process started with pid [9034] ×2 + 1.45sINFOros2-5process started with pid [9035] ×2 + 1.45sINFOros2-6process started with pid [9036] ×2 + 1.45sINFOros2-7process started with pid [9037] ×2 + 1.45sINFOros2-8process started with pid [9038] ×2 + 1.47sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.47sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.47sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.47sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.47sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.47sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170419 ms (missed cycles : 2).[0m ×2 + 1.48sINFOcontroller_managerReceived robot description from topic. + 1.48sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.49sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.49sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.52sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.52sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.55sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.70sINFOvideo_server2026/07/30 11:37:37 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.70sINFOvideo_server2026/07/30 11:37:37 INF configuration loaded from /tmp/moveit-webrtc-n3wwwv0f/mediamtx.yml ×2 + 1.70sINFOvideo_server2026/07/30 11:37:37 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.70sINFOvideo_server2026/07/30 11:37:37 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.19sINFOmove_group[2026-07-30 11:37:38.420] [moveit_pro_license] [info] ×2 + 2.19sINFOmove_group************************************************* ×4 + 2.19sINFOmove_group* MoveIt Pro License ×2 + 2.19sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.481456 ms (missed cycles : 7). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.481456 ms (missed cycles : 7).[0m ×2 + 2.50sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.50sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.50sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.50sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.54sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.55sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 2.59sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.61sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.61sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.68sINFOmove_group ×4 + 2.68sINFOmove_group[92mYou can start planning now![0m ×2 + 2.72sINFOwaypoint_manager_node[2026-07-30 11:37:38.949] [moveit_pro_license] [info] ×2 + 2.72sINFOwaypoint_manager_node************************************************* ×4 + 2.72sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.72sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.77sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.34sINFOobjective_server_node[2026-07-30 11:37:39.571] [moveit_pro_license] [info] ×2 + 3.34sINFOobjective_server_node************************************************* ×4 + 3.34sINFOobjective_server_node* MoveIt Pro License ×2 + 3.34sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.46sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.46sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.47sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.47sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.47sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.47sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.47sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.47sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.47sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.47sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.82sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.82sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.90sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.90sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.90sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.90sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.90sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.90sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.90sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.90sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.90sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.90sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.90sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.05sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.05sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.05sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.05sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.05sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 4.05sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 4.06sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.06sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.07sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.07sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.07sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.07sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.07sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 4.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 4.07sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657253 ms (missed cycles : 3). + 4.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657253 ms (missed cycles : 3).[0m ×2 + 4.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.12sWARNobjective_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 + 4.21sINFOcomponent_container_mt[2026-07-30 11:37:40.438] [moveit_pro_license] [info] ×2 + 4.21sINFOcomponent_container_mt************************************************* ×4 + 4.21sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.21sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.39sINFOros2-3process has finished cleanly [pid 9033] ×2 + 4.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 4.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 4.49sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.49sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.50sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.52sINFOros2_control_node[2026-07-30 11:37:40.748] [info] Controller state will be published at 10 Hz. ×2 + 4.52sINFOros2_control_node[2026-07-30 11:37:40.749] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.82sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.82sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.82sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.82sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 4.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 4.87sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.87sINFOros2-7process has finished cleanly [pid 9037] ×2 + 4.87sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.88sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.88sINFOforce_torque_sensor_broadcasterconfigure successful + 4.88sINFOros2_control_nodeconfigure successful[0m ×2 + 4.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.89sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.89sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.17sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.17sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.17sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.19sINFOros2-2process has finished cleanly [pid 9032] ×2 + 5.22sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 5.22sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 5.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 5.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.27sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.27sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 5.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 5.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.28sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.28sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.30sINFOros2_control_node[2026-07-30 11:37:41.531] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.30sINFOros2_control_node[2026-07-30 11:37:41.531] [info] Controller state will be published at 50 Hz. ×2 + 5.30sINFOros2_control_node[2026-07-30 11:37:41.535] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.61sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.61sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.61sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 5.61sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 5.63sINFOros2-6process has finished cleanly [pid 9036] ×2 + 5.67sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.67sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.67sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.67sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.67sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.68sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.68sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.69sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4).[0m ×2 + 5.88sWARNobjective_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 ×5 + 5.88sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 5.88sINFOobjective_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 + 5.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 5.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 5.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 5.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 5.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 5.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 5.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 5.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.99sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.99sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.01sINFOros2-5process has finished cleanly [pid 9035] ×2 + 6.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 6.04sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 6.08sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.08sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.08sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.08sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.10sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 6.10sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.48sINFOros2-8process has finished cleanly [pid 9038] ×2 + 6.49sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.50sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.50sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.50sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 6.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 6.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.51sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.51sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.51sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.51sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 6.51sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 6.51sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 6.51sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.51sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.51sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 6.51sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 6.51sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 6.52sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.53sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.53sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.00sINFOros2-4process has finished cleanly [pid 9034] ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 7.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 8.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 8.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 9.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 51 warnings · 325 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 ×7 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.11sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.11sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.11sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2-5process has finished cleanly [pid 9035] ×2 + 0.16sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.16sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.22sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 0.22sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.60sINFOros2-8process has finished cleanly [pid 9038] ×2 + 0.61sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.61sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.61sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.62sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.62sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.63sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.63sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.63sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.63sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.64sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.64sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.64sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.12sINFOros2-4process has finished cleanly [pid 9034] ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.17sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 7.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 51 warnings · 419 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.06sINFOros2-2process has finished cleanly [pid 9032] ×2 + 0.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.09sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-07-30 11:37:41.531] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-07-30 11:37:41.531] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-07-30 11:37:41.535] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 9036] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4).[0m ×2 + 0.75sWARNobjective_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 ×7 + 0.75sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.75sINFOobjective_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 ×14 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.86sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 9035] ×2 + 0.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 0.97sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.35sINFOros2-8process has finished cleanly [pid 9038] ×2 + 1.36sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.36sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.38sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.38sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.38sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.38sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.38sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.38sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.87sINFOros2-4process has finished cleanly [pid 9034] ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.92sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 5.92sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 143 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-07-30-11-37-35-670517-3b8cb964706e-8983 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.22sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.24sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.24sINFOcontroller_managerupdate rate is 600 Hz + 1.24sINFOcontroller_managerOverruns handling is : enabled + 1.24sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.24sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170419 ms (missed cycles : 2). + 1.42sINFOros2_control_node-1process started with pid [9031] ×2 + 1.42sINFOmove_group-9process started with pid [9068] ×2 + 1.43sINFOparameter_manager_node-10process started with pid [9069] ×2 + 1.43sINFOwaypoint_manager_node-11process started with pid [9070] ×2 + 1.43sINFOmove_joint_resampler_node-12process started with pid [9071] ×2 + 1.43sINFOmove_end_effector_resampler_node-13process started with pid [9072] ×2 + 1.43sINFOobjective_server_node_main-14process started with pid [9073] ×2 + 1.43sINFOcomponent_container_mt-15process started with pid [9074] ×2 + 1.43sINFOcomponent_container_mt-16process started with pid [9075] ×2 + 1.43sINFOexecute_objective_bridge-17process started with pid [9076] ×2 + 1.43sINFOui_teleop_bridge-18process started with pid [9077] ×2 + 1.43sINFOweb_bridge-19process started with pid [9078] ×2 + 1.44sINFOtf2_web_republisher_node-20process started with pid [9156] ×2 + 1.44sINFOvideo_server-21process started with pid [9157] ×2 + 1.44sINFOweb_bridge_auth_proxy-22process started with pid [9158] ×2 + 1.44sINFOweb_video_auth_proxy-23process started with pid [9159] ×2 + 1.44sINFOros2-2process started with pid [9032] ×2 + 1.45sINFOros2-3process started with pid [9033] ×2 + 1.45sINFOros2-4process started with pid [9034] ×2 + 1.45sINFOros2-5process started with pid [9035] ×2 + 1.45sINFOros2-6process started with pid [9036] ×2 + 1.45sINFOros2-7process started with pid [9037] ×2 + 1.45sINFOros2-8process started with pid [9038] ×2 + 1.47sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.47sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.47sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.47sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.47sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.47sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170419 ms (missed cycles : 2).[0m ×2 + 1.48sINFOcontroller_managerReceived robot description from topic. + 1.48sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.49sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.49sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.52sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.52sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.55sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.70sINFOvideo_server2026/07/30 11:37:37 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.70sINFOvideo_server2026/07/30 11:37:37 INF configuration loaded from /tmp/moveit-webrtc-n3wwwv0f/mediamtx.yml ×2 + 1.70sINFOvideo_server2026/07/30 11:37:37 INF [RTSP] started with listeners on 127.0.0.1:13205 (TCP/RTSP) ×2 + 1.70sINFOvideo_server2026/07/30 11:37:37 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.19sINFOmove_group[2026-07-30 11:37:38.420] [moveit_pro_license] [info] ×2 + 2.19sINFOmove_group************************************************* ×4 + 2.19sINFOmove_group* MoveIt Pro License ×2 + 2.19sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.481456 ms (missed cycles : 7). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.481456 ms (missed cycles : 7).[0m ×2 + 2.50sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.50sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.50sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.50sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.54sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.55sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.59sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.61sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.61sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.64sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.68sINFOmove_group ×4 + 2.68sINFOmove_group[92mYou can start planning now![0m ×2 + 2.72sINFOwaypoint_manager_node[2026-07-30 11:37:38.949] [moveit_pro_license] [info] ×2 + 2.72sINFOwaypoint_manager_node************************************************* ×4 + 2.72sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.72sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.77sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 48 warnings · 463 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.07sINFOros2_control_node[2026-07-30 11:37:40.748] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-07-30 11:37:40.749] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.43sINFOros2-7process has finished cleanly [pid 9037] ×2 + 0.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.43sINFOforce_torque_sensor_broadcasterconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.75sINFOros2-2process has finished cleanly [pid 9032] ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.78sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.83sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.83sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-07-30 11:37:41.531] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.85sINFOros2_control_node[2026-07-30 11:37:41.531] [info] Controller state will be published at 50 Hz. ×2 + 0.86sINFOros2_control_node[2026-07-30 11:37:41.535] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.18sINFOros2-6process has finished cleanly [pid 9036] ×2 + 1.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.23sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.23sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.23sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.23sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4).[0m ×2 + 1.43sWARNobjective_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 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.56sINFOros2-5process has finished cleanly [pid 9035] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.63sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.63sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 1.66sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.04sINFOros2-8process has finished cleanly [pid 9038] ×2 + 2.04sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 2.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 2.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.55sINFOros2-4process has finished cleanly [pid 9034] ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 6.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.61sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 48 warnings · 463 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.07sINFOros2_control_node[2026-07-30 11:37:40.748] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-07-30 11:37:40.749] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.43sINFOros2-7process has finished cleanly [pid 9037] ×2 + 0.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.43sINFOforce_torque_sensor_broadcasterconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.75sINFOros2-2process has finished cleanly [pid 9032] ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.78sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.83sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.83sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-07-30 11:37:41.531] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.85sINFOros2_control_node[2026-07-30 11:37:41.531] [info] Controller state will be published at 50 Hz. ×2 + 0.86sINFOros2_control_node[2026-07-30 11:37:41.535] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.18sINFOros2-6process has finished cleanly [pid 9036] ×2 + 1.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.23sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.23sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.23sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.23sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4).[0m ×2 + 1.43sWARNobjective_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 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.56sINFOros2-5process has finished cleanly [pid 9035] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.63sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.63sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 1.66sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.04sINFOros2-8process has finished cleanly [pid 9038] ×2 + 2.04sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 2.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 2.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.55sINFOros2-4process has finished cleanly [pid 9034] ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 6.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.61sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 48 warnings · 463 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.04sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.04sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.07sINFOros2_control_node[2026-07-30 11:37:40.748] [info] Controller state will be published at 10 Hz. ×2 + 0.07sINFOros2_control_node[2026-07-30 11:37:40.749] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.37sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.43sINFOros2-7process has finished cleanly [pid 9037] ×2 + 0.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.43sINFOforce_torque_sensor_broadcasterconfigure successful + 0.43sINFOros2_control_nodeconfigure successful[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.68sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.75sINFOros2-2process has finished cleanly [pid 9032] ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.78sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.79sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.82sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.82sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.83sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.83sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.85sINFOros2_control_node[2026-07-30 11:37:41.531] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.85sINFOros2_control_node[2026-07-30 11:37:41.531] [info] Controller state will be published at 50 Hz. ×2 + 0.86sINFOros2_control_node[2026-07-30 11:37:41.535] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.18sINFOros2-6process has finished cleanly [pid 9036] ×2 + 1.22sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.23sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.23sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.23sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.23sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.23sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.23sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.24sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.24sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4).[0m ×2 + 1.43sWARNobjective_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 + 1.44sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 1.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.54sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.54sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.54sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.56sINFOros2-5process has finished cleanly [pid 9035] ×2 + 1.59sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.59sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.63sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.63sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.66sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 1.66sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.04sINFOros2-8process has finished cleanly [pid 9038] ×2 + 2.04sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.05sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.05sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.05sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 2.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 2.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.07sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.07sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.07sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.07sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.55sINFOros2-4process has finished cleanly [pid 9034] ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 6.50sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.61sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 6.61sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 48 warnings · 419 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.03sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.06sINFOros2-2process has finished cleanly [pid 9032] ×2 + 0.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.09sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.11sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.11sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.15sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_node[2026-07-30 11:37:41.509] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.17sINFOros2_control_node[2026-07-30 11:37:41.531] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.17sINFOros2_control_node[2026-07-30 11:37:41.531] [info] Controller state will be published at 50 Hz. ×2 + 0.17sINFOros2_control_node[2026-07-30 11:37:41.535] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 9036] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616280 ms (missed cycles : 4).[0m ×2 + 0.75sWARNobjective_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 ×7 + 0.75sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 0.75sINFOobjective_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 ×14 + 0.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 0.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.86sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.86sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2-5process has finished cleanly [pid 9035] ×2 + 0.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 0.97sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.35sINFOros2-8process has finished cleanly [pid 9038] ×2 + 1.36sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.36sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.36sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.36sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.36sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.36sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 1.38sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.38sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.38sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.38sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.38sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.38sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.38sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.38sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.38sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.38sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.38sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.38sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.87sINFOros2-4process has finished cleanly [pid 9034] ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 4.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 5.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.91sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.92sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 5.92sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 48 warnings · 319 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 ×7 + 0.00sWARNobjective_server_nodeNot all Objectives could be registered: ×14 + 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 ×14 + 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1785411462.11696172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1785411462.12717485 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.11sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.11sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.11sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2-5process has finished cleanly [pid 9035] ×2 + 0.16sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.16sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.22sINFOros2_control_node[2026-07-30 11:37:42.333] [info] Controller state will be published at 20 Hz. ×2 + 0.22sINFOros2_control_node[2026-07-30 11:37:42.334] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.60sINFOros2-8process has finished cleanly [pid 9038] ×2 + 0.61sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.61sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.61sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.61sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.62sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.62sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.63sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.63sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.63sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.63sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.63sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.63sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.63sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.63sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.63sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.63sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.63sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.64sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.64sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.64sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.64sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.12sINFOros2-4process has finished cleanly [pid 9034] ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 2.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.44sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.44sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 5.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.17sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 48 warnings · 279 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.06sINFOros2_control_node[2026-07-30 11:37:49.772] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-07-30 11:37:49.772] [info] Accepted new action goal ×2 + 7.43sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 48 warnings · 269 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9038] ×2 + 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 ×6 + 0.01sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 0.01sINFOobjective_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 + 0.01sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1785411462.72208595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.01sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.01sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.01sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.01sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b + 0.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7txwaja0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_5hwo2opd --params-file /tmp/launch_params_h1_8tw3b [0m ×2 + 0.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.03sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.04sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.04sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.52sINFOros2-4process has finished cleanly [pid 9034] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598224 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1785411463.78222799 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.787022 ms (missed cycles : 8).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1785411464.38014674 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1785411464.44032001 seconds ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1785411465.08621740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1785411465.11635160 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018959 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1785411465.69635439 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1785411465.84689116 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834703 ms (missed cycles : 4).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1785411466.52135658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1785411466.56162524 seconds ×3 + 4.46sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1785411467.17829156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_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 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (5.4143e-05 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-07-30 11:37:47.283] [info] Accepted new action goal ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802146 ms (missed cycles : 5).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861800 ms (missed cycles : 3).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807075 ms (missed cycles : 3).[0m ×2 + 6.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||